相关论文: Semantic Layering in Room Segmentation via LLMs

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

Semantic role labeling (SRL) is a crucial task of natural language processing (NLP). Although generative decoder-based large language models (LLMs) have achieved remarkable success across various NLP tasks, they still lag behind…

Multi-modal Large Language Models (MLLMs) have shown remarkable capabilities across a wide range of vision-language tasks. However, due to the restricted input resolutions, MLLMs face significant challenges in precisely understanding and…

A significant challenge in service robots is the semantic understanding of their surrounding areas. Traditional approaches addressed this problem by segmenting the floor plan into regions corresponding to full rooms that are assigned labels…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

This paper proposes LLaFS, the first attempt to leverage large language models (LLMs) in few-shot segmentation. In contrast to the conventional few-shot segmentation methods that only rely on the limited and biased information from the…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Recent advancements in multimodal large language models (LLMs) have demonstrated significant potential across various domains, particularly in concept reasoning. However, their applications in understanding 3D environments remain limited,…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…

We present SegLLM, a novel multi-round interactive reasoning segmentation model that enhances LLM-based segmentation by exploiting conversational memory of both visual and textual outputs. By leveraging a mask-aware multimodal LLM, SegLLM…

Semantic maps allow a robot to reason about its surroundings to fulfill tasks such as navigating known environments, finding specific objects, and exploring unmapped areas. Traditional mapping approaches provide accurate geometric…

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

We introduce SAM4MLLM, an innovative approach which integrates the Segment Anything Model (SAM) with Multi-Modal Large Language Models (MLLMs) for pixel-aware tasks. Our method enables MLLMs to learn pixel-level location information without…

The integration of Large Language Models (LLMs) with computer vision is profoundly transforming perception tasks like image segmentation. For intelligent transportation systems (ITS), where accurate scene understanding is critical for…

Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…

Although perception systems have made remarkable advancements in recent years, they still rely on explicit human instruction or pre-defined categories to identify the target objects before executing visual recognition tasks. Such systems…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…