相关论文: Efficient RGB-D Scene Understanding via Multi-task…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

Recognizing objects and scenes are two challenging but essential tasks in image understanding. In particular, the use of RGB-D sensors in handling these tasks has emerged as an important area of focus for better visual understanding.…

Robust semantic scene segmentation for automotive applications is a challenging problem in two key aspects: (1) labelling every individual scene pixel and (2) performing this task under unstable weather and illumination changes (e.g., foggy…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

This work addresses the task of open world semantic segmentation using RGBD sensing to discover new semantic classes over time. Although there are many types of objects in the real-word, current semantic segmentation methods make a closed…

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…

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…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Scene recognition is currently one of the top-challenging research fields in computer vision. This may be due to the ambiguity between classes: images of several scene classes may share similar objects, which causes confusion among them.…

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…

This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…

Deep convolutional networks (CNN) can achieve impressive results on RGB scene recognition thanks to large datasets such as Places. In contrast, RGB-D scene recognition is still underdeveloped in comparison, due to two limitations of RGB-D…

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 propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

Global and local relational reasoning enable scene understanding models to perform human-like scene analysis and understanding. Scene understanding enables better semantic segmentation and object-to-object interaction detection. In the…

Joint scene understanding and segmentation for automotive applications is a challenging problem in two key aspects:- (1) classifying every pixel in the entire scene and (2) performing this task under unstable weather and illumination…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…

Scene understanding for autonomous vehicles is a challenging computer vision task, with recent advances in convolutional neural networks (CNNs) achieving results that notably surpass prior traditional feature driven approaches. However,…

Robust object recognition is a crucial ingredient of many, if not all, real-world robotics applications. This paper leverages recent progress on Convolutional Neural Networks (CNNs) and proposes a novel RGB-D architecture for object…

Automotive scene understanding under adverse weather conditions raises a realistic and challenging problem attributable to poor outdoor scene visibility (e.g. foggy weather). However, because most contemporary scene understanding approaches…