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

3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

Monocular depth estimation plays a crucial role in 3D recognition and understanding. One key limitation of existing approaches lies in their lack of structural information exploitation, which leads to inaccurate spatial layout,…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

Deep learning has significantly improved the precision of instance segmentation with abundant labeled data. However, in many areas like medical and manufacturing, collecting sufficient data is extremely hard and labeling this data requires…

Feature matching is a cornerstone task in computer vision, essential for applications such as image retrieval, stereo matching, 3D reconstruction, and SLAM. This survey comprehensively reviews modality-based feature matching, exploring…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications,…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

In this work, we present a novel and effective framework to facilitate object detection with the instance-level segmentation information that is only supervised by bounding box annotation. Starting from the joint object detection and…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Accurate depth estimation is fundamental to 3D perception in autonomous driving, supporting tasks such as detection, tracking, and motion planning. However, monocular camera-based 3D detection suffers from depth ambiguity and reduced…

Semantic amodal segmentation is a recently proposed extension to instance-aware segmentation that includes the prediction of the invisible region of each object instance. We present the first all-in-one end-to-end trainable model for…

To address the challenging task of instance-aware human part parsing, a new bottom-up regime is proposed to learn category-level human semantic segmentation as well as multi-person pose estimation in a joint and end-to-end manner. It is a…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However,…

Video instance segmentation aims at predicting object segmentation masks for each frame, as well as associating the instances across multiple frames. Recent end-to-end video instance segmentation methods are capable of performing object…