相关论文: MT-Depth: Multi-task Instance feature analysis for…

Object detection and instance segmentation are two fundamental computer vision tasks. They are closely correlated but their relations have not yet been fully explored in most previous work. This paper presents RDSNet, a novel deep…

Edge detection has long been an important problem in the field of computer vision. Previous works have explored category-agnostic or category-aware edge detection. In this paper, we explore edge detection in the context of object instances.…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead to a major drop, preventing the use of semantic mapping in…

The attributes of object contours has great significance for instance segmentation task. However, most of the current popular deep neural networks do not pay much attention to the object edge information. Inspired by the human annotation…

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise,…

Robust three-dimensional scene understanding is now an ever-growing area of research highly relevant in many real-world applications such as autonomous driving and robotic navigation. In this paper, we propose a multi-task learning-based…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Most instance segmentation models are not end-to-end trainable due to either the incorporation of proposal estimation (RPN) as a pre-processing or non-maximum suppression (NMS) as a post-processing. Here we propose a novel end-to-end…

Depth completion involves recovering a dense depth map from a sparse map and an RGB image. Recent approaches focus on utilizing color images as guidance images to recover depth at invalid pixels. However, color images alone are not enough…

This paper presents an end-to-end instance segmentation framework, termed SOIT, that Segments Objects with Instance-aware Transformers. Inspired by DETR \cite{carion2020end}, our method views instance segmentation as a direct set prediction…

Multi-agent distributed collaborative mapping provides comprehensive and efficient representations for robots. However, existing approaches lack instance-level awareness and semantic understanding of environments, limiting their…

Quantitative measurement of crystals in high-resolution images allows for important insights into underlying material characteristics. Deep learning has shown great progress in vision-based automatic crystal size measurement, but current…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Recently, transformer-based methods have dominated 3D instance segmentation, where mask attention is commonly involved. Specifically, object queries are guided by the initial instance masks in the first cross-attention, and then iteratively…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…