相关论文: Exploiting Object-based and Segmentation-based Sem…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…

Searching for objects in indoor organized environments such as homes or offices is part of our everyday activities. When looking for a target object, we jointly reason about the rooms and containers the object is likely to be in; the same…

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…

In this work we address the task of segmenting an object into its parts, or semantic part segmentation. We start by adapting a state-of-the-art semantic segmentation system to this task, and show that a combination of a fully-convolutional…

Moving object segmentation is a crucial task for achieving a high-level understanding of visual scenes and has numerous downstream applications. Humans can effortlessly segment moving objects in videos. Previous work has largely relied on…

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…

Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics.…

Scene Classification has been addressed with numerous techniques in computer vision literature. However, with the increasing number of scene classes in datasets in the field, it has become difficult to achieve high accuracy in the context…

Deep neural network-based semantic segmentation generally requires large-scale cost extensive annotations for training to obtain better performance. To avoid pixel-wise segmentation annotations which are needed for most methods, recently…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Indoor scene recognition is a growing field with great potential for behaviour understanding, robot localization, and elderly monitoring, among others. In this study, we approach the task of scene recognition from a novel standpoint, using…

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 topic of semantic segmentation has witnessed considerable progress due to the powerful features learned by convolutional neural networks (CNNs). The current leading approaches for semantic segmentation exploit shape information by…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Traditionally, algorithms that learn to segment object instances in 2D images have heavily relied on large amounts of human-annotated data. Only recently, novel approaches have emerged tackling this problem in an unsupervised fashion.…

Deep neural networks have shown outstanding performance in computer vision tasks such as semantic segmentation and have defined the state-of-the-art. However, these segmentation models are trained on a closed and predefined set of semantic…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…