相关论文: Caltech Aerial RGB-Thermal Dataset in the Wild

We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes…

Paired RGB-thermal data is crucial for visual-thermal sensor fusion and cross-modality tasks, including important applications such as multi-modal image alignment and retrieval. However, the scarcity of synchronized and calibrated…

The majority of learning-based semantic segmentation methods are optimized for daytime scenarios and favorable lighting conditions. Real-world driving scenarios, however, entail adverse environmental conditions such as nighttime…

To address this challenge, we introduce CattleFace-RGBT, a RGB-T Cattle Facial Landmark dataset consisting of 2,300 RGB-T image pairs, a total of 4,600 images. Creating a landmark dataset is time-consuming, but AI-assisted annotation can…

Autonomous systems rely on sensors to estimate the environment around them. However, cameras, LiDARs, and RADARs have their own limitations. In nighttime or degraded environments such as fog, mist, or dust, thermal cameras can provide…

Several visual tasks, such as pedestrian detection and image-to-image translation, are challenging to accomplish in low light using RGB images. Heat variation of objects in thermal images can be used to overcome this. In this work, an…

Heterogeneous air-ground robot teams combine complementary sensing modalities, mobility characteristics, and spatial viewpoints that can significantly enhance perception in complex outdoor environments. However, progress in multi-robot…

We present a new method to adapt an RGB-trained water segmentation network to target-domain aerial thermal imagery using online self-supervision by leveraging texture and motion cues as supervisory signals. This new thermal capability…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

We present AnyThermal, a thermal backbone that captures robust task-agnostic thermal features suitable for a variety of tasks such as cross-modal place recognition, thermal segmentation, and monocular depth estimation using thermal images.…

We present a challenging dataset, the TartanAir, for robot navigation tasks and more. The data is collected in photo-realistic simulation environments with the presence of moving objects, changing light and various weather conditions. By…

In the last decade, the computer vision field has seen significant progress in multimodal data fusion and learning, where multiple sensors, including depth, infrared, and visual, are used to capture the environment across diverse spectral…

This paper proposes a new glass segmentation method utilizing paired RGB and thermal images. Due to the large difference between the transmission property of visible light and that of the thermal energy through the glass where most glass is…

The recent Segment Anything Model (SAM) demonstrates strong instance segmentation performance across various downstream tasks. However, SAM is trained solely on RGB data, limiting its direct applicability to RGB-thermal (RGB-T) semantic…

Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenarios due to their reliance on pretrained models and predefined…

In autonomous driving, the integration of roadside perception systems is essential for overcoming occlusion challenges and enhancing the safety of Vulnerable Road Users(VRUs). While LiDAR and visual (RGB) sensors are commonly used, thermal…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

Thermal imaging from unmanned aerial vehicles (UAVs) holds significant potential for applications in search and rescue, wildlife monitoring, and emergency response, especially under low-light or obscured conditions. However, the scarcity of…

Since the launch of the Microsoft Kinect, scores of RGBD datasets have been released. These have propelled advances in areas from reconstruction to gesture recognition. In this paper we explore the field, reviewing datasets across eight…