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

Driven by autonomous driving's demands for precise 3D perception, 3D semantic occupancy prediction has become a pivotal research topic. Unlike bird's-eye-view (BEV) methods, which restrict scene representation to a 2D plane, occupancy…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

We study open-world 3D scene understanding, a family of tasks that require agents to reason about their 3D environment with an open-set vocabulary and out-of-domain visual inputs - a critical skill for robots to operate in the unstructured…

We explore semantic segmentation beyond the conventional, single-dataset homogeneous training and bring forward the problem of Heterogeneous Training of Semantic Segmentation (HTSS). HTSS involves simultaneous training on multiple…

Image modality is not perfect as it often fails in certain conditions, e.g., night and fast motion. This significantly limits the robustness and versatility of existing multi-modal (i.e., Image+X) semantic segmentation methods when…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

Self-supervised representation learning for visual pre-training has achieved remarkable success with sample (instance or pixel) discrimination and semantics discovery of instance, whereas there still exists a non-negligible gap between…

3D semantic segmentation provides high-level scene understanding for applications in robotics, autonomous systems, \textit{etc}. Traditional methods adapt exclusively to either task-specific goals (open-vocabulary segmentation) or scene…

The scarcity of large-scale 3D-text paired data poses a great challenge on open vocabulary 3D scene understanding, and hence it is popular to leverage internet-scale 2D data and transfer their open vocabulary capabilities to 3D models…

Robust visual localization under a wide range of viewing conditions is a fundamental problem in computer vision. Handling the difficult cases of this problem is not only very challenging but also of high practical relevance, e.g., in the…

Abstract. The advancement of deep learning has coincided with the proliferation of both models and available data. The surge in dataset sizes and the subsequent surge in computational requirements have led to the development of the Dataset…

Semantic Scene Completion (SSC) from monocular RGB images is a fundamental yet challenging task due to the inherent ambiguity of inferring occluded 3D geometry from a single view. While feed-forward methods have made progress, they often…

Visual scene understanding is a fundamental task in computer vision that aims to extract meaningful information from visual data. It traditionally involves disjoint and specialized algorithms for different tasks that are tailored for…

Semantic understanding of 3D scenes is essential for robots to operate effectively and safely in complex environments. Existing methods for semantic scene reconstruction and semantic-aware novel view synthesis often rely on dense multi-view…

Semantic segmentation has recently witnessed great progress. Despite the impressive overall results, the segmentation performance in some hard areas (e.g., small objects or thin parts) is still not promising. A straightforward solution is…

An effective pre-training framework with universal 3D representations is extremely desired in perceiving large-scale dynamic scenes. However, establishing such an ideal framework that is both task-generic and label-efficient poses a…

Numerous studies have investigated the pivotal role of reliable 3D volume representation in scene perception tasks, such as multi-view stereo (MVS) and semantic scene completion (SSC). They typically construct 3D probability volumes…

In this paper, we propose a novel visual Semantic-Spatial Self-Highlighting Network (termed 3SHNet) for high-precision, high-efficiency and high-generalization image-sentence retrieval. 3SHNet highlights the salient identification of…