相关论文: Context and Geometry Aware Voxel Transformer for S…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

While features of different scales are perceptually important to visual inputs, existing vision transformers do not yet take advantage of them explicitly. To this end, we first propose a cross-scale vision transformer, CrossFormer. It…

Monocular scene understanding is a foundational component of autonomous systems. Within the spectrum of monocular perception topics, one crucial and useful task for holistic 3D scene understanding is semantic scene completion (SSC), which…

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…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Incomplete-view computed tomography (CT) can shorten the data acquisition time and allow scanning of large objects, including sparse-view and limited-angle scenarios, each with various settings, such as different view numbers or angular…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Vision Transformer has demonstrated impressive success across various vision tasks. However, its heavy computation cost, which grows quadratically with respect to the token sequence length, largely limits its power in handling large feature…

We introduce SLCF-Net, a novel approach for the Semantic Scene Completion (SSC) task that sequentially fuses LiDAR and camera data. It jointly estimates missing geometry and semantics in a scene from sequences of RGB images and sparse LiDAR…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

Recently, transformer-based networks have shown impressive results in semantic segmentation. Yet for real-time semantic segmentation, pure CNN-based approaches still dominate in this field, due to the time-consuming computation mechanism of…

Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

Since the introduction of Vision Transformers, the landscape of many computer vision tasks (e.g., semantic segmentation), which has been overwhelmingly dominated by CNNs, recently has significantly revolutionized. However, the computational…

The exploration of mutual-benefit cross-domains has shown great potential toward accurate self-supervised depth estimation. In this work, we revisit feature fusion between depth and semantic information and propose an efficient local…

We present DocFormer -- a multi-modal transformer based architecture for the task of Visual Document Understanding (VDU). VDU is a challenging problem which aims to understand documents in their varied formats (forms, receipts etc.) and…

With the proliferation of imaging sensors, the volume of multi-modal imagery far exceeds the ability of human analysts to adequately consume and exploit it. Full motion video (FMV) possesses the extra challenge of containing large amounts…

Scene text recognition with arbitrary shape is very challenging due to large variations in text shapes, fonts, colors, backgrounds, etc. Most state-of-the-art algorithms rectify the input image into the normalized image, then treat the…

3D Gaussian Splatting is renowned for its high-fidelity reconstructions and real-time novel view synthesis, yet its lack of semantic understanding limits object-level perception. In this work, we propose ObjectGS, an object-aware framework…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…