相关论文: Volumetric Mapping with Panoptic Refinement via Ke…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Existing deep learning-based 3D object detectors typically rely on the appearance of individual objects and do not explicitly pay attention to the rich contextual information of the scene. In this work, we propose Contextualized Multi-Stage…

Depth estimation plays a pivotal role in advancing human-robot interactions, especially in indoor environments where accurate 3D scene reconstruction is essential for tasks like navigation and object handling. Monocular depth estimation,…

Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation.…

We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and thus can only acquire a few (point-wise) depth…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…

Reconstructing object geometry and material from multiple views typically requires optimization. Differentiable path tracing is an appealing framework as it can reproduce complex appearance effects. However, it is difficult to use due to…

Panoptic segmentation is an important computer vision task, where the current state-of-the-art solutions require specialized components to perform well. We propose a simple generalist framework based on a deep encoder - shallow decoder…

We propose a simple, fast, and flexible framework to generate simultaneously semantic and instance masks for panoptic segmentation. Our method, called PanoNet, incorporates a clean and natural structure design that tackles the problem…

Depth estimation, as a necessary clue to convert 2D images into the 3D space, has been applied in many machine vision areas. However, to achieve an entire surrounding 360-degree geometric sensing, traditional stereo matching algorithms for…

We present an improved model for MRF-based depth upsampling, guided by image- as well as 3D surface normal features. By exploiting the underlying camera model we define a novel regularization term that implicitly evaluates the planarity of…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…

Convolutional neural network (CNN) based architectures, such as Mask R-CNN, constitute the state of the art in object detection and segmentation. Recently, these methods have been extended for model-based segmentation where the network…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

The size of large, geo-located datasets has reached scales where visualization of all data points is inefficient. Random sampling is a method to reduce the size of a dataset, yet it can introduce unwanted errors. We describe a method for…

Sparse and feature SLAM methods provide robust camera pose estimation. However, they often fail to capture the level of detail required for inspection and scene awareness tasks. Conversely, dense SLAM approaches generate richer scene…

Consistent in-focus input imagery is an essential precondition for machine vision systems to perceive the dynamic environment. A defocus blur severely degrades the performance of vision systems. To tackle this problem, we propose a…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…