相关论文: Evaluating the Impact of Point Cloud Colorization …

Robotic manipulation systems benefit from complementary sensing modalities, where each provides unique environmental information. Point clouds capture detailed geometric structure, while RGB images provide rich semantic context. Current…

While many image colorization algorithms have recently shown the capability of producing plausible color versions from gray-scale photographs, they still suffer from limited semantic understanding. To address this shortcoming, we propose to…

Point cloud segmentation is fundamental in understanding 3D environments. However, current 3D point cloud segmentation methods usually perform poorly on scene boundaries, which degenerates the overall segmentation performance. In this…

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

We describe a novel approach to indoor place recognition from RGB point clouds based on aggregating low-level colour and geometry features with high-level implicit semantic features. It uses a 2-stage deep learning framework, in which the…

3D Point Cloud Semantic Segmentation (PCSS) is attracting increasing interest, due to its applicability in remote sensing, computer vision and robotics, and due to the new possibilities offered by deep learning techniques. In order to…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

Most existing RGB-D semantic segmentation methods focus on the feature level fusion, including complex cross-modality and cross-scale fusion modules. However, these methods may cause misalignment problem in the feature fusion process and…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We…

While 3D point clouds are widely used in vision applications, their irregular and sparse nature make them challenging to handle. In response, numerous encoding approaches have been proposed to capture the rich semantic information of point…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

High-resolution semantic segmentation requires substantial computational resources. Traditional approaches in the field typically downscale the input images before processing and then upscale the low-resolution outputs back to their…