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

We present a deep reinforcement learning method of progressive view inpainting for colored semantic point cloud scene completion under volume guidance, achieving high-quality scene reconstruction from only a single RGB-D image with severe…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

Recent advances in vision tasks (e.g., segmentation) highly depend on the availability of large-scale real-world image annotations obtained by cumbersome human labors. Moreover, the perception performance often drops significantly for new…

Collecting diverse sets of training images for RGB-D semantic image segmentation is not always possible. In particular, when robots need to operate in privacy-sensitive areas like homes, the collection is often limited to a small set of…

Many research works focus on leveraging the complementary geometric information of indoor depth sensors in vision tasks performed by deep convolutional neural networks, notably semantic segmentation. These works deal with a specific vision…

Piece-wise 3D planar reconstruction provides holistic scene understanding of man-made environments, especially for indoor scenarios. Most recent approaches focused on improving the segmentation and reconstruction results by introducing…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

In this paper, we propose a new framework for online 3D scene perception. Conventional 3D scene perception methods are offline, i.e., take an already reconstructed 3D scene geometry as input, which is not applicable in robotic applications…

In-context learning$\unicode{x2013}$the ability to configure a model's behavior with different prompts$\unicode{x2013}$has revolutionized the field of natural language processing, alleviating the need for task-specific models and paving the…

Multi-task scene understanding aims to design models that can simultaneously predict several scene understanding tasks with one versatile model. Previous studies typically process multi-task features in a more local way, and thus cannot…

Comprehensive 3D scene understanding, both geometrically and semantically, is important for real-world applications such as robot perception. Most of the existing work has focused on developing data-driven discriminative models for scene…

Technological development aims to produce generations of increasingly efficient robots able to perform complex tasks. This requires considerable efforts, from the scientific community, to find new algorithms that solve computer vision…

During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving. However, to train CNNs requires a considerable…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Spatial attention mechanism has been widely used in semantic segmentation of remote sensing images given its capability to model long-range dependencies. Many methods adopting spatial attention mechanism aggregate contextual information…

In order to function in unstructured environments, robots need the ability to recognize unseen novel objects. We take a step in this direction by tackling the problem of segmenting unseen object instances in tabletop environments. However,…

Combining RGB images and the corresponding depth maps in semantic segmentation proves the effectiveness in the past few years. Existing RGB-D modal fusion methods either lack the non-linear feature fusion ability or treat both modal images…

Semantic segmentation is a critical technique for effective scene understanding. Traditional RGB-T semantic segmentation models often struggle to generalize across diverse scenarios due to their reliance on pretrained models and predefined…