相关论文: PCF-Lift: Panoptic Lifting by Probabilistic Contra…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

Panoptic segmentation of 3D scenes, involving the segmentation and classification of object instances in a dense 3D reconstruction of a scene, is a challenging problem, especially when relying solely on unposed 2D images. Existing…

We propose a novel 3D spatial representation for data fusion and scene reconstruction. Probabilistic Signed Distance Function (Probabilistic SDF, PSDF) is proposed to depict uncertainties in the 3D space. It is modeled by a joint…

Part-aware panoptic segmentation is a problem of computer vision that aims to provide a semantic understanding of the scene at multiple levels of granularity. More precisely, semantic areas, object instances, and semantic parts are…

Previous methods utilize the Neural Radiance Field (NeRF) for panoptic lifting, while their training and rendering speed are unsatisfactory. In contrast, 3D Gaussian Splatting (3DGS) has emerged as a prominent technique due to its rapid…

Dense panoptic prediction is a key ingredient in many existing applications such as autonomous driving, automated warehouses or remote sensing. Many of these applications require fast inference over large input resolutions on affordable or…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

We propose PanopticFusion, a novel online volumetric semantic mapping system at the level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion is able to densely predict class labels of a background region…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

Panoptic Part Segmentation (PPS) unifies panoptic and part segmentation into one task. Previous works utilize separate approaches to handle things, stuff, and part predictions without shared computation and task association. We aim to unify…

Open-vocabulary panoptic reconstruction is a challenging task for simultaneous scene reconstruction and understanding. Recently, methods have been proposed for 3D scene understanding based on Gaussian splatting. However, these methods are…

Despite the success in still image recognition, deep neural networks for spatiotemporal signal tasks (such as human action recognition in videos) still suffers from low efficacy and inefficiency over the past years. Recently, human experts…

We propose and study a task we name panoptic segmentation (PS). Panoptic segmentation unifies the typically distinct tasks of semantic segmentation (assign a class label to each pixel) and instance segmentation (detect and segment each…

Aggregating different image features for image retrieval has recently shown its effectiveness. While highly effective, though, the question of how to uplift the impact of the best features for a specific query image persists as an open…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

The high-dimensional nature of the 4-D light field (LF) poses great challenges in achieving efficient and effective feature embedding, that severely impacts the performance of downstream tasks. To tackle this crucial issue, in contrast to…

Recently, there has been a panoptic segmentation task combining semantic and instance segmentation, in which the goal is to classify each pixel with the corresponding instance ID. In this work, we propose a solution to tackle the panoptic…

Computer vision is largely based on 2D techniques, with 3D vision still relegated to a relatively narrow subset of applications. However, by building on recent advances in 3D models such as neural radiance fields, some authors have shown…