相关论文: Project-and-Fuse: Improving RGB-D Semantic Segment…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

In this paper, we tackle the problem of RGB-D semantic segmentation of indoor images. We take advantage of deconvolutional networks which can predict pixel-wise class labels, and develop a new structure for deconvolution of multiple…

Convolutional neural networks (CNN) are limited by the lack of capability to handle geometric information due to the fixed grid kernel structure. The availability of depth data enables progress in RGB-D semantic segmentation with CNNs.…

RGB-D semantic segmentation can be advanced with convolutional neural networks due to the availability of Depth data. Although objects cannot be easily discriminated by just the 2D appearance, with the local pixel difference and geometric…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Depth information matters in RGB-D semantic segmentation task for providing additional geometric information to color images. Most existing methods exploit a multi-stage fusion strategy to propagate depth feature to the RGB branch. However,…

We propose a new deep learning architecture for the tasks of semantic segmentation and depth prediction from RGB-D images. We revise the state of art based on the RGB and depth feature fusion, where both modalities are assumed to be…

Scene depth information can help visual information for more accurate semantic segmentation. However, how to effectively integrate multi-modality information into representative features is still an open problem. Most of the existing work…

Scene recognition with RGB images has been extensively studied and has reached very remarkable recognition levels, thanks to convolutional neural networks (CNN) and large scene datasets. In contrast, current RGB-D scene data is much more…

Depth information has proven to be a useful cue in the semantic segmentation of RGB-D images for providing a geometric counterpart to the RGB representation. Most existing works simply assume that depth measurements are accurate and…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

In this paper, we propose a neural network architecture for scale-invariant semantic segmentation using RGB-D images. We utilize depth information as an additional modality apart from color images only. Especially in an outdoor scene which…

With recent advances in RGB-D sensing technologies as well as improvements in machine learning and fusion techniques, RGB-D facial recognition has become an active area of research. A novel attention aware method is proposed to fuse two…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

In recent years, Fully Convolutional Networks (FCN) has been widely used in various semantic segmentation tasks, including multi-modal remote sensing imagery. How to fuse multi-modal data to improve the segmentation performance has always…

Current successful approaches for generic (non-semantic) segmentation rely mostly on edge detection and have leveraged the strengths of deep learning mainly by improving the edge detection stage in the algorithmic pipeline. This is in…

RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

RGB-D based 6D pose estimation has recently achieved remarkable progress, but still suffers from two major limitations: (1) ineffective representation of depth data and (2) insufficient integration of different modalities. This paper…