相关论文: IPFormer: Visual 3D Panoptic Scene Completion with…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

We revisit Semantic Scene Completion (SSC), a useful task to predict the semantic and occupancy representation of 3D scenes, in this paper. A number of methods for this task are always based on voxelized scene representations for keeping…

Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…

Semantic Scene Completion (SSC) is pivotal in autonomous driving perception, frequently confronted with the complexities of weather and illumination changes. The long-term strategy involves fusing multi-modal information to bolster the…

The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Semantic Scene Completion (SSC) transforms an image of single-view depth and/or RGB 2D pixels into 3D voxels, each of whose semantic labels are predicted. SSC is a well-known ill-posed problem as the prediction model has to "imagine" what…

Semantic scene completion (SSC) is a challenging Computer Vision task with many practical applications, from robotics to assistive computing. Its goal is to infer the 3D geometry in a field of view of a scene and the semantic labels of…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Indoor monocular semantic scene completion (MSSC) is notably more challenging than its outdoor counterpart due to complex spatial layouts and severe occlusions. While transformers are well suited for modeling global dependencies, their high…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

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 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…

Open-vocabulary panoptic reconstruction offers comprehensive scene understanding, enabling advances in embodied robotics and photorealistic simulation. In this paper, we propose PanopticRecon++, an end-to-end method that formulates panoptic…

As a voxel-wise labeling task, semantic scene completion (SSC) tries to simultaneously infer the occupancy and semantic labels for a scene from a single depth and/or RGB image. The key challenge for SSC is how to effectively take advantage…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Modern supervised semantic segmentation methods are usually finetuned based on the supervised or self-supervised models pre-trained on ImageNet. Recent work shows that transferring the knowledge from CLIP to semantic segmentation via prompt…