相关论文: Amodal Ground Truth and Completion in the Wild

Deoccluding the hidden portions of objects in a scene is a formidable task, particularly when addressing real-world scenes. In this paper, we present a new self-supervised PArallel visible-to-COmplete diffusion framework, named PACO, a…

Point completion refers to completing the missing geometries of an object from incomplete observations. Main-stream methods predict the missing shapes by decoding a global feature learned from the input point cloud, which often leads to…

In recent years, 3D hand pose estimation methods have garnered significant attention due to their extensive applications in human-computer interaction, virtual reality, and robotics. In contrast, there has been a notable gap in hand…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Remembering where object segments were predicted in the past is useful for improving the accuracy and consistency of class-agnostic video segmentation algorithms. Existing video segmentation algorithms typically use either no object-level…

Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…

Off-road environments remain significant challenges for autonomous ground vehicles, due to the lack of structured roads and the presence of complex obstacles, such as uneven terrain, vegetation, and occlusions. Traditional perception…

Depth cues are known to be useful for visual perception. However, direct measurement of depth is often impracticable. Fortunately, though, modern learning-based methods offer promising depth maps by inference in the wild. In this work, we…

Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…

Anomaly segmentation seeks to detect and localize unknown or out-of-distribution (OoD) objects that fall outside predefined semantic classes a capability essential for safe autonomous driving. However, the scarcity and limited diversity of…

Monocular object detection and tracking have improved drastically in recent years, but rely on a key assumption: that objects are visible to the camera. Many offline tracking approaches reason about occluded objects post-hoc, by linking…

Existing augmented reality (AR) applications often ignore occlusion between real hands and virtual objects when incorporating virtual objects in our views. The challenges come from the lack of accurate depth and mismatch between real and…

For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…

In this work, we address the problem of semantic object segmentation using foundation models. We investigate whether foundation models, trained on a large number and variety of objects, can perform object segmentation without fine-tuning on…

Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…

2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…

Despite rapid progress in scene segmentation in recent years, 3D segmentation methods are still limited when there is severe occlusion. The key challenge is estimating the segment boundaries of (partially) occluded objects, which are…

We describe a method that predicts, from a single RGB image, a depth map that describes the scene when a masked object is removed - we call this "counterfactual depth" that models hidden scene geometry together with the observations. Our…

Spatial visual perception is a fundamental requirement in physical-world applications like autonomous driving and robotic manipulation, driven by the need to interact with 3D environments. Capturing pixel-aligned metric depth using RGB-D…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…