相关论文: PanopticRecon: Leverage Open-vocabulary Instance S…

Existing open-vocabulary 3D semantic segmentation methods typically supervise 3D segmentation models by merging text-aligned features (e.g., CLIP) extracted from multi-view images onto 3D points. However, such approaches treat multi-view…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where RGB-D images or camera poses are not readily available. To…

Generative 3D reconstruction shows strong potential in incomplete observations. While sparse-view and single-image reconstruction are well-researched, partial observation remains underexplored. In this context, dense views are accessible…

Open-vocabulary scene understanding with online panoptic mapping is essential for embodied applications to perceive and interact with environments. However, existing methods are predominantly offline or lack instance-level understanding,…

In this work, we introduce Panoptic-DeepLab, a simple, strong, and fast system for panoptic segmentation, aiming to establish a solid baseline for bottom-up methods that can achieve comparable performance of two-stage methods while yielding…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

Semantic segmentation models are limited in their ability to scale to large numbers of object classes. In this paper, we introduce the new task of zero-shot semantic segmentation: learning pixel-wise classifiers for never-seen object…

We study universal zero-shot segmentation in this work to achieve panoptic, instance, and semantic segmentation for novel categories without any training samples. Such zero-shot segmentation ability relies on inter-class relationships in…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

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…

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…

Object instance segmentation is a key challenge for indoor robots navigating cluttered environments with many small objects. Limitations in 3D sensing capabilities often make it difficult to detect every possible object. While deep learning…

3D open-vocabulary scene graph methods are a promising map representation for embodied agents, however many current approaches are computationally expensive. In this paper, we reexamine the critical design choices established in previous…

Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenarios due to their reliance on pretrained models and predefined…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…