相关论文: PSGSL: A Probabilistic Framework Integrating Seman…

In target-driven navigation and autonomous exploration, reasonable prediction of unknown regions is crucial for efficient navigation and environment understanding. Existing methods mostly focus on single objects or geometric occupancy maps,…

Autonomous robotic systems require spatio-temporal understanding of dynamic environments to ensure reliable navigation and interaction. While Vision-Language Models (VLMs) provide open-world semantic priors, they lack grounding in 3D…

Building models that can understand and reason about 3D scenes is difficult owing to the lack of data sources for 3D supervised training and large-scale training regimes. In this work we ask - How can the knowledge in a pre-trained language…

We introduce Consistent Instance Field, a continuous and probabilistic spatio-temporal representation for dynamic scene understanding. Unlike prior methods that rely on discrete tracking or view-dependent features, our approach disentangles…

Situated question answering is the problem of answering questions about an environment such as an image or diagram. This problem requires jointly interpreting a question and an environment using background knowledge to select the correct…

We propose an efficient and interpretable scene graph generator. We consider three types of features: visual, spatial and semantic, and we use a late fusion strategy such that each feature's contribution can be explicitly investigated. We…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric…

Recent advancements in camera-based occupancy prediction have focused on the simultaneous prediction of 3D semantics and scene flow, a task that presents significant challenges due to specific difficulties, e.g., occlusions and unbalanced…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

This paper presents a nonparametric scene parsing approach that improves the overall accuracy, as well as the coverage of foreground classes in scene images. We first improve the label likelihood estimates at superpixels by merging…

Reasoning about complex visual scenes involves perception of entities and their relations. Scene graphs provide a natural representation for reasoning tasks, by assigning labels to both entities (nodes) and relations (edges). Unfortunately,…

Semantic segmentation methods have achieved outstanding performance thanks to deep learning. Nevertheless, when such algorithms are deployed to new contexts not seen during training, it is necessary to collect and label scene-specific data…

This paper addresses a multi-robot planning problem in environments with partially unknown semantics. The environment is assumed to have known geometric structure (e.g., walls) and to be occupied by static labeled landmarks with uncertain…

Real-time scene parsing is a fundamental feature for autonomous driving vehicles with multiple cameras. In this letter we demonstrate that sharing semantics between cameras with different perspectives and overlapped views can boost the…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…