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

This paper presents a novel framework to integrate both semantic and instance contexts for panoptic segmentation. In existing works, it is common to use a shared backbone to extract features for both things (countable classes such as…

We propose a new and, arguably, a very simple reduction of instance segmentation to semantic segmentation. This reduction allows to train feed-forward non-recurrent deep instance segmentation systems in an end-to-end fashion using…

Training perception systems for self-driving cars requires substantial 2D annotations that are labor-intensive to manual label. While existing datasets provide rich annotations on pre-recorded sequences, they fall short in labeling rarely…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

We present an end-to-end network to bridge the gap between training and inference pipeline for panoptic segmentation, a task that seeks to partition an image into semantic regions for "stuff" and object instances for "things". In contrast…

The emergence of CLIP has opened the way for open-world image perception. The zero-shot classification capabilities of the model are impressive but are harder to use for dense tasks such as image segmentation. Several methods have proposed…

Scene understanding and reasoning has been a fundamental problem in 3D computer vision, requiring models to identify objects, their properties, and spatial or comparative relationships among the objects. Existing approaches enable this by…

Scene reconstruction from multi-view images is a fundamental problem in computer vision and graphics. Recent neural implicit surface reconstruction methods have achieved high-quality results; however, editing and manipulating the 3D…

Understanding the scene in which an autonomous robot operates is critical for its competent functioning. Such scene comprehension necessitates recognizing instances of traffic participants along with general scene semantics which can be…

Zero-shot scene understanding in real-world settings presents major challenges due to the complexity and variability of natural scenes, where models must recognize new objects, actions, and contexts without prior labeled examples. This work…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

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…

In man-made environments such as indoor scenes, when point-based 3D reconstruction fails due to the lack of texture, lines can still be detected and used to support surfaces. We present a novel method for watertight piecewise-planar surface…

Most existing methods for training-free open-vocabulary semantic segmentation are based on CLIP. While these approaches have made progress, they often face challenges in precise localization or require complex pipelines to combine separate…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

3D part segmentation is a crucial and challenging task in 3D perception, playing a vital role in applications such as robotics, 3D generation, and 3D editing. Recent methods harness the powerful Vision Language Models (VLMs) for 2D-to-3D…

Panoptic image segmentation is the computer vision task of finding groups of pixels in an image and assigning semantic classes and object instance identifiers to them. Research in image segmentation has become increasingly popular due to…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…