相关论文: Not All Voxels Are Equal: Hardness-Aware Semantic …

Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Semantic segmentation of road scenes is one of the key technologies for realizing autonomous driving scene perception, and the effectiveness of deep Convolutional Neural Networks(CNNs) for this task has been demonstrated. State-of-art CNNs…

The primary focus of most recent works on open-vocabulary neural fields is extracting precise semantic features from the VLMs and then consolidating them efficiently into a multi-view consistent 3D neural fields representation. However,…

Deep learning architectures have shown remarkable results in scene understanding problems, however they exhibit a critical drop of performances when they are required to learn incrementally new tasks without forgetting old ones. This…

In recent years, visual 3D Semantic Scene Completion (SSC) has emerged as a critical perception task for autonomous driving due to its ability to infer complete 3D scene layouts and semantics from single 2D images. However, in real-world…

Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scenes and exhibit adaptive behaviors. This capability, however,…

How do computers and intelligent agents view the world around them? Feature extraction and representation constitutes one the basic building blocks towards answering this question. Traditionally, this has been done with carefully engineered…

When designing a semantic segmentation module for a practical application, such as autonomous driving, it is crucial to understand the robustness of the module with respect to a wide range of image corruptions. While there are recent…

Due to the flexible representation of arbitrary-shaped scene text and simple pipeline, bottom-up segmentation-based methods begin to be mainstream in real-time scene text detection. Despite great progress, these methods show deficiencies in…

Camera-based 3D Semantic Scene Completion (SSC) is a critical task in autonomous driving systems, assessing voxel-level geometry and semantics for holistic scene perception. While existing voxel-based and plane-based SSC methods have…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

We propose DistillNeRF, a self-supervised learning framework addressing the challenge of understanding 3D environments from limited 2D observations in outdoor autonomous driving scenes. Our method is a generalizable feedforward model that…

Acoustic scene classification (ASC) is highly important in the real world. Recently, deep learning-based methods have been widely employed for acoustic scene classification. However, these methods are currently not lightweight enough as…

3D semantic scene understanding is essential for digital twins, autonomous driving, smart agriculture, and embodied perception, yet dense point-wise annotation for point clouds remains expensive and difficult to scale. Existing…

Holistic 3D scene understanding, which jointly models geometry, appearance, and semantics, is crucial for applications like augmented reality and robotic interaction. Existing feed-forward 3D scene understanding methods (e.g., LSM) are…

Robust geometric and semantic scene understanding is ever more important in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based approach capable of jointly…

Increasing scene-awareness is a key challenge in video anomaly detection (VAD). In this work, we propose a hierarchical semantic contrast (HSC) method to learn a scene-aware VAD model from normal videos. We first incorporate foreground…

Indoor scene semantic parsing from RGB images is very challenging due to occlusions, object distortion, and viewpoint variations. Going beyond prior works that leverage geometry information, typically paired depth maps, we present a new…