相关论文: REL-SF4PASS: Panoramic Semantic Segmentation with …

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

We study multi-sensor fusion for 3D semantic segmentation that is important to scene understanding for many applications, such as autonomous driving and robotics. Existing fusion-based methods, however, may not achieve promising performance…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

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…

Panoramic images, capturing a 360{\deg} field of view (FoV), encompass omnidirectional spatial information crucial for scene understanding. However, it is not only costly to obtain training-sufficient dense-annotated panoramas but also…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

Reference Expression Segmentation (RES) aims to segment image regions specified by referring expressions and has become popular with the rise of multimodal large models (MLLMs). While MLLMs excel in semantic understanding, their…

Infrared-visible image fusion methods aim at generating fused images with good visual quality and also facilitate the performance of high-level tasks. Indeed, existing semantic-driven methods have considered semantic information injection…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…

Multi-modal medical image fusion is traditionally optimized for human visual perception, aiming to maximize generic contrast and structural fidelity. However, when these visually pleasing fused images are deployed in automated clinical…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

Existing image foundation models are not optimized for spherical images having been trained primarily on perspective images. PanoSAMic integrates the pre-trained Segment Anything (SAM) encoder to make use of its extensive training and…

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…

Intelligent vehicles clearly benefit from the expanded Field of View (FoV) of the 360-degree sensors, but the vast majority of available semantic segmentation training images are captured with pinhole cameras. In this work, we look at this…

Aerial pixel-wise scene perception of the surrounding environment is an important task for UAVs (Unmanned Aerial Vehicles). Previous research works mainly adopt conventional pinhole cameras or fisheye cameras as the imaging device. However,…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Remote sensing (RS) images are important to monitor and survey earth at varying spatial scales. Continuous observations from various RS sources complement single observations to improve applications. Fusion into single or multiple images…

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…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…