Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data used either only depth or depth with colour by projecting the 2D image into the 3D volume resulting in a sparse data representation. In this work, we present a new strategy to encode colour information in 3D space using edge detection and flipped truncated signed distance. We also present EdgeNet, a new end-to-end neural network architecture capable of handling features generated from the fusion of depth and edge information. Experimental results show improvement of 6.9% over the state-of-the-art result on real data, for end-to-end approaches.
Towards Balanced RGB-TSDF Fusion for Consistent Semantic Scene Completion by 3D RGB Feature Completion and a Classwise Entropy Loss Function
School of Science and Engineering, The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳）理工学院）；School of Artificial Intelligence, Shenzhen Polytechnic University（深圳职业技术大学人工智能学院）
The goal of our work is to complete the depth channel of an RGB-D image. Commodity-grade depth cameras often fail to sense depth for shiny, bright, transparent, and distant surfaces. To address this problem, we train a deep network that takes an RGB image as input and predicts dense surface normals and occlusion boundaries. Those predictions are then combined with raw depth observations provided by the RGB-D camera to solve for depths for all pixels, including those missing in the original observation. This method was chosen over others (e.g., inpainting depths directly) as the result of exten…
Dalian University of Technology（大连理工大学）；Shenzhen Research Institute of Big Data（深圳大数据研究院）；The Chinese University of Hong Kong (ShenZhen)（香港中文大学（深圳））；Princeton University（普林斯顿大学）
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 occlusion. Our approach is end-to-end, consisting of three modules: 3D scene volume reconstruction, 2D RGB-D and segmentation image inpainting, and multi-view selection for completion. Given a single RGB-D image, our method first predicts its semantic segmentation map and goes through the 3D volume branch to obtain a volumetric scene reconstruction as a guide…
University of Southern California（南加利福尼亚大学）；US Army Research Laboratory（美国陆军研究实验室）
In this paper, we propose our Correlation For Completion Network (CFCNet), an end-to-end deep learning model that uses the correlation between two data sources to perform sparse depth completion. CFCNet learns to capture, to the largest extent, the semantically correlated features between RGB and depth information. Through pairs of image pixels and the visible measurements in a sparse depth map, CFCNet facilitates feature-level mutual transformation of different data sources. Such a transformation enables CFCNet to predict features and reconstruct data of missing depth measurements according t…
Technion - Israel Institute of Technology（以色列理工学院）；Bosch Center for Artificial Intelligence（博世人工智能中心）
Depth cameras are a prominent perception system for robotics, especially when operating in natural unstructured environments. Industrial applications, however, typically involve reflective objects under harsh lighting conditions, a challenging scenario for depth cameras, as it induces numerous reflections and deflections, leading to loss of robustness and deteriorated accuracy. Here, we developed a deep model to correct the depth channel in RGBD images, aiming to restore the depth information to the required accuracy. To train the model, we created a novel industrial dataset that we now presen…
This paper presents an end-to-end 3D convolutional network named attention-based multi-modal fusion network (AMFNet) for the semantic scene completion (SSC) task of inferring the occupancy and semantic labels of a volumetric 3D scene from single-view RGB-D images. Compared with previous methods which use only the semantic features extracted from RGB-D images, the proposed AMFNet learns to perform effective 3D scene completion and semantic segmentation simultaneously via leveraging the experience of inferring 2D semantic segmentation from RGB-D images as well as the reliable depth cues in spati…
University of Wisconsin–Madison（威斯康星大学麦迪逊分校）；SenseTime Research（商汤科技研究院）；Chinese University of Hong Kong（香港中文大学）
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, depth maps obtained by LIDAR are generally sparse because of its hardware limitation. The task of depth completion attracts increasing attention, which aims at generating a dense depth map from an input sparse depth map. To effectively utilize multi-scale features, we propose three novel sparsity-invariant operations, based on which, a sparsity-invariant mu…
University of Texas at Austin（德克萨斯大学奥斯汀分校）；UT Austin（德克萨斯大学奥斯汀分校）；Phillips Academy Andover（安多弗菲利普斯学院）；Snap Research（Snap研究）；Zhejiang University（浙江大学）；Facebook AI Research（Facebook人工智能研究院）
Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose changes since they require considerable overlap between the input scans. We introduce a novel deep neural network that extends the scope to extreme relative poses, with little or even no overlap between the input scans. The key idea is to infer more complete scene information about the underlying environment and match on the completed scans. In particular, ins…
Nanjing University of Science and Technology（南京理工大学）；The University of Adelaide（阿德莱德大学）
RGB images differentiate from depth images as they carry more details about the color and texture information, which can be utilized as a vital complementary to depth for boosting the performance of 3D semantic scene completion (SSC). SSC is composed of 3D shape completion (SC) and semantic scene labeling while most of the existing methods use depth as the sole input which causes the performance bottleneck. Moreover, the state-of-the-art methods employ 3D CNNs which have cumbersome networks and tremendous parameters. We introduce a light-weight Dimensional Decomposition Residual network (DDR) …
This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications depend on the awareness of their surroundings, and use depth cues to reason and react accordingly. On the one hand, monocular depth prediction methods fail to generate absolute and precise depth maps. On the other hand, stereoscopic approaches are still significantly outperformed by LiDAR based approaches. The goal of the depth completion task is to generat…
We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world, incomplete scans. To achieve self-supervision, we remove frames from a given (incomplete) 3D scan in order to make it even more incomplete; self-supervision is then formulated by correlating the two levels of partialness of the same scan while masking out regions that have never been observed. Through generalization across a large training set, we can then p…
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resolution intensity image. Our approach draws inspiration from related work on super-resolution and in-painting. We propose a novel architecture that seeks to pull contextual cues separately from the intensity image and the depth features and then fuse them later in the network. We argue that this approach effectively exploits the relationship between the two modalities and produces accurate results while respecting salient…
SenseTime Research（商汤科技研究院）；SenseBrain；Shanghai AI Laboratory（上海人工智能实验室）
Developing and integrating advanced image sensors with novel algorithms in camera systems is prevalent with the increasing demand for computational photography and imaging on mobile platforms. However, the lack of high-quality data for research and the rare opportunity for in-depth exchange of views from industry and academia constrain the development of mobile intelligent photography and imaging (MIPI). To bridge the gap, we introduce the first MIPI challenge including five tracks focusing on novel image sensors and imaging algorithms. In this paper, RGB+ToF Depth Completion, one of the five …
3D object recognition has seen significant advances in recent years, showing impressive performance on real-world 3D scan benchmarks, but lacking in object part reasoning, which is fundamental to higher-level scene understanding such as inter-object similarities or object functionality. Thus, we propose to leverage large-scale synthetic datasets of 3D shapes annotated with part information to learn Neural Part Priors (NPPs), optimizable spaces characterizing geometric part priors. Crucially, we can optimize over the learned part priors in order to fit to real-world scanned 3D scenes at test ti…
The University of Adelaide（阿德莱德大学）；Nanjing University of Science and Technology（南京理工大学）；Northwestern Polytechnical University（西北工业大学）；ETH Zurich（苏黎世联邦理工学院）
This paper tackles the problem of data fusion in the semantic scene completion (SSC) task, which can simultaneously deal with semantic labeling and scene completion. RGB images contain texture details of the object(s) which are vital for semantic scene understanding. Meanwhile, depth images capture geometric clues of high relevance for shape completion. Using both RGB and depth images can further boost the accuracy of SSC over employing one modality in isolation. We propose a 3D gated recurrent fusion network (GRFNet), which learns to adaptively select and fuse the relevant information from de…
Peking University（北京大学）；Chongqing University（重庆大学）；Tsinghua University（清华大学）；Hefei University of Technology（合肥工业大学）
With the wide application of sparse ToF sensors in mobile devices, RGB image-guided sparse depth completion has attracted extensive attention recently, but still faces some problems. First, the fusion of multimodal information requires more network modules to process different modalities. But the application scenarios of sparse ToF measurements usually demand lightweight structure and low computational cost. Second, fusing sparse and noisy depth data with dense pixel-wise RGB data may introduce artifacts. In this paper, a light but efficient depth completion network is proposed, which consists…
Universidade de Brasília（巴西利亚大学）；University of Surrey（萨里大学）
Semantic scene completion is the task of producing a complete 3D voxel representation of volumetric occupancy with semantic labels for a scene from a single-view observation. We built upon the recent work of Song et al. (CVPR 2017), who proposed SSCnet, a method that performs scene completion and semantic labelling in a single end-to-end 3D convolutional network. SSCnet uses only depth maps as input, even though depth maps are usually obtained from devices that also capture colour information, such as RGBD sensors and stereo cameras. In this work, we investigate the potential of the RGB colour…
Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we introduce a new approach for depth completion of transparent objects from a single RGB-D image. Key to our approach is a local implicit neural representation built on ray-voxel pairs that allows our method to generalize to unseen objects and achieve fast inference speed. Based on this representation, we present a novel framework that can complete missing depth gi…
Imperial College London（帝国理工学院）；Technical University of Munich（慕尼黑工业大学）
Depth completion aims to predict a dense depth map from a sparse depth input. The acquisition of dense ground truth annotations for depth completion settings can be difficult and, at the same time, a significant domain gap between real LiDAR measurements and synthetic data has prevented from successful training of models in virtual settings. We propose a domain adaptation approach for sparse-to-dense depth completion that is trained from synthetic data, without annotations in the real domain or additional sensors. Our approach simulates the real sensor noise in an RGB+LiDAR set-up, and consist…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
We describe a method that predicts, from a single RGB image, a depth map that describes the scene when a masked object is removed - we call this "counterfactual depth" that models hidden scene geometry together with the observations. Our method works for the same reason that scene completion works: the spatial structure of objects is simple. But we offer a much higher resolution representation of space than current scene completion methods, as we operate at pixel-level precision and do not rely on a voxel representation. Furthermore, we do not require RGBD inputs. Our method uses a standard en…
Mannheim University of Applied Sciences（曼海姆应用科学大学）
Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth discontinuities, overfitting to both a given data set as well as error metric, and many more. Thus, we propose our novel Piecewise Depth Completion (PDC), which works completely without deep learning. PDC segments the RGB image into superpixels corresponding the regions with similar depth value. Superpixels corresponding to same objects are gathered using a cost map. At…
Depth completion aims to generate a dense depth map from the sparse depth map and aligned RGB image. However, current depth completion methods use extremely expensive 64-line LiDAR(about $100,000) to obtain sparse depth maps, which will limit their application scenarios. Compared with the 64-line LiDAR, the single-line LiDAR is much less expensive and much more robust. Therefore, we propose a method to tackle the problem of single-line depth completion, in which we aim to generate a dense depth map from the single-line LiDAR info and the aligned RGB image. A single-line depth completion datase…
3D Semantic Scene Completion (SSC) can provide dense geometric and semantic scene representations, which can be applied in the field of autonomous driving and robotic systems. It is challenging to estimate the complete geometry and semantics of a scene solely from visual images, and accurate depth information is crucial for restoring 3D geometry. In this paper, we propose the first stereo SSC method named OccDepth, which fully exploits implicit depth information from stereo images (or RGBD images) to help the recovery of 3D geometric structures. The Stereo Soft Feature Assignment (Stereo-SFA) …
Beijing University of Posts and Telecommunications（北京邮电大学）；Midea Group（美的集团）
The raw depth image captured by the indoor depth sensor usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and limited distance range. The incomplete depth map burdens many downstream vision tasks, and a rising number of depth completion methods have been proposed to alleviate this issue. While most existing methods can generate accurate dense depth maps from sparse and uniformly sampled depth maps, they are not suitable for complementing the large contiguous regions of missing depth values, which is common a…
Technical University of Munich（慕尼黑工业大学）；Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究所）；New York University（纽约大学）
Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with objects and their functional understanding. Thus, we propose the task of part-based scene understanding of real-world 3D environments: from an RGB-D scan of a scene, we detect objects, and for each object predict its decomposition into geometric part masks, which composed together form the complete geometry of the observed object. We leverage an intermediary …
This project performed image completion on CIFAR-10, a dataset of 60,000 32x32 RGB images, using three different neural network architectures: fully convolutional networks, convolutional networks with fully connected layers, and encoder-decoder convolutional networks. The highest performing model was a deep fully convolutional network, which was able to achieve a mean squared error of .015 when comparing the original image pixel values with the predicted pixel values. As well, this network was able to output in-painted images which appeared real to the human eye.
RDFC-GAN: RGB-Depth Fusion CycleGAN for Indoor Depth Completion
State Key Laboratory of Networking and Switching Technology, Beijing University of Posts and Telecommunications, China（网络与交换技术国家重点实验室，北京邮电大学，中国）；Midea Group, China（美的集团，中国）；School of Computer Science, Beijing University of Posts and Telecommunications, China（计算机科学学院，北京邮电大学，中国）
SemAttNet: Towards Attention-based Semantic Aware Guided Depth Completion
Department of Computer Science, University of Kaiserslautern, 67663 Kaiserslautern, Germany（凯斯莱特大学计算机科学系）；Mindgrage, University of Kaiserslautern, 67663 Kaiserslautern, Germany（Mindgrage凯斯莱特大学）；Department of Computer Science, Luleå University of Technology, 971 87 Luleå, Sweden（卢勒奥技术大学计算机科学系）
The Chinese University of Hong Kong（香港中文大学）；SenseTime Research（商汤科技研究院）；Samsung Research Institute China - Beijing（三星中国研究院（北京））；Xidian University（西安电子科技大学）
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 a novel framework named Scene-Instance-Scene Network (\textit{SISNet}), which takes advantages of both instance and scene level semantic information. Our method is capable of inferring fine-grained shape details as well as nearby objects whose semantic categories are easily mixed-up. The key insight is that we decouple the instances from a coarsely completed…
Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth completion and semantic segmentation changing only the last layer. Our proposal efficiently learns sparse features without the need of an additional validity mask. We show how to ensure network robustness to varying input sparsities. Our method even works with densities as low as 0.8% (8 layer lidar), and outperforms all published state-of-the-art on the Kitti dept…
Sparse depth measurements are widely available in many applications such as augmented reality, visual inertial odometry and robots equipped with low cost depth sensors. Although such sparse depth samples work well for certain applications like motion tracking, a complete depth map is usually preferred for broader applications, such as 3D object recognition, 3D reconstruction and autonomous driving. Despite the recent advancements in depth prediction from single RGB images with deeper neural networks, the existing approaches do not yield reliable results for practical use. In this work, we prop…
TDCNet: Transparent Objects Depth Completion with CNN-Transformer Dual-Branch Parallel Network
Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences（中国科学院长春光学精密机械与物理研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Harbin Institute of Technology（哈尔滨工业大学）；College of Physics, Northeast Normal University（东北师范大学物理学院）
Uber Advanced Technologies Group（优步先进技术集团）；University of Toronto（多伦多大学）
In this paper, we tackle the problem of depth completion from RGBD data. Towards this goal, we design a simple yet effective neural network block that learns to extract joint 2D and 3D features. Specifically, the block consists of two domain-specific sub-networks that apply 2D convolution on image pixels and continuous convolution on 3D points, with their output features fused in image space. We build the depth completion network simply by stacking the proposed block, which has the advantage of learning hierarchical representations that are fully fused between 2D and 3D spaces at multiple leve…
SurgPointTransformer: Vertebrae Shape Completion with RGB-D Data
Research in Orthopedic Computer Science, University Hospital Balgrist, University of Zürich（苏黎世大学、巴尔格里斯特大学医院骨科计算机科学研究所）；Balgrist University Hospital, University of Zurich（苏黎世大学巴尔格里斯特大学医院）
Monitoring the progression of an action towards completion offers fine grained insight into the actor's behaviour. In this work, we target detecting the completion moment of actions, that is the moment when the action's goal has been successfully accomplished. This has potential applications from surveillance to assistive living and human-robot interactions. Previous effort required human annotations of the completion moment for training (i.e. full supervision). In this work, we present an approach for moment detection from weak video-level labels. Given both complete and incomplete sequences,…
Technion - Israel Institute of Technology（以色列理工学院）；Bosch Center for Artificial Intelligence（博世人工智能中心）
We introduce BIDCD -- the Bosch Industrial Depth Completion Dataset. BIDCD is a new RGBD dataset of metallic industrial objects, collected with a depth camera mounted on a robotic manipulator. The main purpose of this dataset is to facilitate the training of domain-specific depth completion models, to be used in logistics and manufacturing tasks. We trained a State-of-the-Art depth completion model on this dataset, and report the results, setting an initial benchmark. Further, we propose to use this dataset for learning synthetic-to-depth-camera domain adaptation. Modifying synthetic RGBD data…
Any to Full: Prompting Depth Anything for Depth Completion in One Stage
Rutgers University（罗格斯大学）；Michigan State University（密歇根州立大学）；JD Logistics（京东物流）；The Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））
Propagating Sparse Depth via Depth Foundation Model for Out-of-Distribution Depth Completion
Dalian University of Technology（大连理工大学）；Beihang University（北京航空航天大学）；College of Computer Science and Engineering, Shandong University of Science and Technology（山东科技大学计算机科学与工程学院）
We propose an accurate and lightweight convolutional neural network for stereo estimation with depth completion. We name this method fully-convolutional deformable similarity network with depth completion (FCDSN-DC). This method extends FC-DCNN by improving the feature extractor, adding a network structure for training highly accurate similarity functions and a network structure for filling inconsistent disparity estimates. The whole method consists of three parts. The first part consists of fully-convolutional densely connected layers that computes expressive features of rectified image pairs…
