相关论文: 360+x: A Panoptic Multi-modal Scene Understanding …

Perception systems of autonomous vehicles are susceptible to occlusion, especially when examined from a vehicle-centric perspective. Such occlusion can lead to overlooked object detections, e.g., larger vehicles such as trucks or buses may…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Current perception models in autonomous driving have become notorious for greatly relying on a mass of annotated data to cover unseen cases and address the long-tail problem. On the other hand, learning from unlabeled large-scale collected…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…

Specular highlights are commonplace in images, however, methods for detecting them and in turn removing the phenomenon are particularly challenging. A reason for this, is due to the difficulty of creating a dataset for training or…

The convergence of 3D geometric perception and video synthesis has created an unprecedented demand for large-scale video data that is rich in both semantic and spatio-temporal information. While existing datasets have advanced either 3D…

Longform media such as movies have complex narrative structures, with events spanning a rich variety of ambient visual scenes. Domain specific challenges associated with visual scenes in movies include transitions, person coverage, and a…

Image segmentation for video analysis plays an essential role in different research fields such as smart city, healthcare, computer vision and geoscience, and remote sensing applications. In this regard, a significant effort has been…

Advances in vision-based sensors and computer vision algorithms have significantly improved the analysis and understanding of traffic scenarios. To facilitate the use of these improvements for road safety, this survey systematically…

We introduce the first approach to solve the challenging problem of unsupervised 4D visual scene understanding for complex dynamic scenes with multiple interacting people from multi-view video. Our approach simultaneously estimates a…

The increasing complexity of urban environments has underscored the potential of effective collective perception systems. To address these challenges, we present the CoopScenes dataset, a large-scale, multi-scene dataset that provides…

Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…

We, as human beings, can understand and picture a familiar scene from arbitrary viewpoints given a single image, whereas this is still a grand challenge for computers. We hereby present a novel solution to mimic such human perception…

We present a system for multi-level scene awareness for robotic manipulation. Given a sequence of camera-in-hand RGB images, the system calculates three types of information: 1) a point cloud representation of all the surfaces in the scene,…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Detecting 3D objects keypoints is of great interest to the areas of both graphics and computer vision. There have been several 2D and 3D keypoint datasets aiming to address this problem in a data-driven way. These datasets, however, either…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…

Multimodal summarization with multimodal output (MSMO) has emerged as a promising research direction. Nonetheless, numerous limitations exist within existing public MSMO datasets, including insufficient maintenance, data inaccessibility,…

Image descriptions can help visually impaired people to quickly understand the image content. While we made significant progress in automatically describing images and optical character recognition, current approaches are unable to include…