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

While deeply supervised networks are common in recent literature, they typically impose the same learning objective on all transitional layers despite their varying representation powers. In this paper, we propose Hierarchically Supervised…

Semantic segmentation is a fundamental task in computer vision, which can be considered as a per-pixel classification problem. Recently, although fully convolutional neural network (FCN) based approaches have made remarkable progress in…

We propose a method for high-performance semantic image segmentation (or semantic pixel labelling) based on very deep residual networks, which achieves the state-of-the-art performance. A few design factors are carefully considered to this…

Monocular 3D Semantic Scene Completion (SSC) has garnered significant attention in recent years due to its potential to predict complex semantics and geometry shapes from a single image, requiring no 3D inputs. In this paper, we identify…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Semantic image segmentation is a fundamental task in image understanding. Per-pixel semantic labelling of an image benefits greatly from the ability to consider region consistency both locally and globally. However, many Fully Convolutional…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

Visual Word Sense Disambiguation (VWSD) is a multi-modal task that aims to select, among a batch of candidate images, the one that best entails the target word's meaning within a limited context. In this paper, we propose a multi-modal…

The increasing demand for autonomous machines in construction environments necessitates the development of robust object detection algorithms that can perform effectively across various weather and environmental conditions. This paper…

Modeling and understanding the 3D world is crucial for various applications, from augmented reality to robotic navigation. Recent advancements based on 3D Gaussian Splatting have integrated semantic information from multi-view images into…

This paper introduces VisHall3D, a novel two-stage framework for monocular semantic scene completion that aims to address the issues of feature entanglement and geometric inconsistency prevalent in existing methods. VisHall3D decomposes the…

3D occupancy prediction enables the robots to obtain spatial fine-grained geometry and semantics of the surrounding scene, and has become an essential task for embodied perception. Existing methods based on 3D Gaussians instead of dense…

Open-set semantic mapping enables language-driven robotic perception, but current instance-centric approaches are bottlenecked by context-depriving and computationally expensive crop-based feature extraction. To overcome this fundamental…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Scene text synthesis involves rendering specified texts onto arbitrary images. Current methods typically formulate this task in an end-to-end manner but lack effective character-level guidance during training. Besides, their text encoders,…

3D Gaussian Splatting has recently gained traction for its efficient training and real-time rendering. While its vanilla representation is mainly designed for view synthesis, recent works extended it to scene understanding with language…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…