相关论文: HDBFormer: Efficient RGB-D Semantic Segmentation w…

Indoor semantic segmentation is fundamental to computer vision and robotics, supporting applications such as autonomous navigation, augmented reality, and smart environments. Although RGB-D fusion leverages complementary appearance and…

We present DFormer, a novel RGB-D pretraining framework to learn transferable representations for RGB-D segmentation tasks. DFormer has two new key innovations: 1) Unlike previous works that encode RGB-D information with RGB pretrained…

Recent advances in scene understanding benefit a lot from depth maps because of the 3D geometry information, especially in complex conditions (e.g., low light and overexposed). Existing approaches encode depth maps along with RGB images and…

Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of…

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…

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…

The integration of RGB and depth modalities significantly enhances the accuracy of segmenting complex indoor scenes, with depth data from RGB-D cameras playing a crucial role in this improvement. However, collecting an RGB-D dataset is more…

Efficient RGB-D semantic segmentation has received considerable attention in mobile robots, which plays a vital role in analyzing and recognizing environmental information. According to previous studies, depth information can provide…

Vision-based perception and reasoning is essential for scene understanding in any autonomous system. RGB and depth images are commonly used to capture both the semantic and geometric features of the environment. Developing methods to…

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…

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…

Perception is crucial for robots that act in real-world environments, as autonomous systems need to see and understand the world around them to act properly. Panoptic segmentation provides an interpretation of the scene by computing a…

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…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

The integration of dual-modal features has been pivotal in advancing RGB-Depth (RGB-D) tracking. However, current trackers are less efficient and focus solely on single-level features, resulting in weaker robustness in fusion and slower…

Semantic segmentation has made encouraging progress due to the success of deep convolutional networks in recent years. Meanwhile, depth sensors become prevalent nowadays, so depth maps can be acquired more easily. However, there are few…

Encoder-decoder models have been widely used in RGBD semantic segmentation, and most of them are designed via a two-stream network. In general, jointly reasoning the color and geometric information from RGBD is beneficial for semantic…

Due to the powerful ability to encode image details and semantics, many lightweight dual-resolution networks have been proposed in recent years. However, most of them ignore the benefit of boundary information. This paper introduces a…

RGB-D has gradually become a crucial data source for understanding complex scenes in assisted driving. However, existing studies have paid insufficient attention to the intrinsic spatial properties of depth maps. This oversight…