相关论文: FM-Fusion: Instance-aware Semantic Mapping Boosted…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

The image annotation stage is a critical and often the most time-consuming part required for training and evaluating object detection and semantic segmentation models. Deployment of the existing models in novel environments often requires…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

Foreground segmentation is an essential task in the field of image understanding. Under unsupervised conditions, different images and instances always have variable expressions, which make it difficult to achieve stable segmentation…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

This paper introduces a method for image semantic segmentation grounded on a novel fusion scheme, which takes place inside a deep convolutional neural network. The main goal of our proposal is to explore object boundary information to…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Although large-scale visual foundation models (VFMs) achieve remarkable performance in semantic understanding, they still underperform in instance-aware dense prediction tasks. They exhibit different biases in representation: for instance,…

We propose an approach to semantic segmentation that achieves state-of-the-art supervised performance when applied in a zero-shot setting. It thus achieves results equivalent to those of the supervised methods, on each of the major semantic…

Generally capable Spatial AI systems must build persistent scene representations where geometric models are combined with meaningful semantic labels. The many approaches to labelling scenes can be divided into two clear groups: view-based…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Humans have a natural ability to perform semantic associations with the surrounding objects in the environment. This allows them to create a mental map of the environment, allowing them to navigate on-demand when given linguistic…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

We present MaskFusion, a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems which output a purely geometric map of a static scene. MaskFusion recognizes, segments and assigns semantic class…

Recent approaches for instance-aware semantic labeling have augmented convolutional neural networks (CNNs) with complex multi-task architectures or computationally expensive graphical models. We present a method that leverages a fully…

Instance segmentation has attracted recent attention in computer vision and existing methods in this domain mostly have an object detection stage. In this paper, we study the intrinsic challenge of the instance segmentation problem, the…