Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view images), and resort to grid-based convolutions for scene understanding. In this work, we introduce RfD-Net that jointly detects and reconstructs dense object surfaces directly from raw point clouds. Instead of representing scenes with regular grids, our method leverages the sparsity of point cloud data and focuses on predicting shapes that are recognized with high objectness. With this design, we decouple the instance reconstruction into global object localization and local shape prediction. It not only eases the difficulty of learning 2-D manifold surfaces from sparse 3D space, the point clouds in each object proposal convey shape details that support implicit function learning to reconstruct any high-resolution surfaces. Our experiments indicate that instance detection and reconstruction present complementary effects, where the shape prediction head shows consistent effects on improving object detection with modern 3D proposal network backbones. The qualitative and quantitative evaluations further demonstrate that our approach consistently outperforms the state-of-the-arts and improves over 11 of mesh IoU in object reconstruction.
Zhejiang University（浙江大学）；The University of Technology, Sydney（悉尼科技大学）
Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene understanding, particularly in robotics applications. As scene images have larger diversity than the iconic object images, it is more challenging for deep learning methods to automatically learn features from scene images with less samples. Inspired by human scene understanding based on object knowledge, we address the problem of scene classification by encouraging d…
the Chinese University of Hong Kong（香港中文大学）；Massachusetts Institute of Technology（麻省理工学院）；Peking University（北京大学）；University of Toronto（多伦多大学）
Scene parsing, or recognizing and segmenting objects and stuff in an image, is one of the key problems in computer vision. Despite the community's efforts in data collection, there are still few image datasets covering a wide range of scenes and object categories with dense and detailed annotations for scene parsing. In this paper, we introduce and analyze the ADE20K dataset, spanning diverse annotations of scenes, objects, parts of objects, and in some cases even parts of parts. A generic network design called Cascade Segmentation Module is then proposed to enable the segmentation networks to…
Machine Learning Lab Samsung R&D Institute of China, Beijing（三星中国研发研究院机器学习实验室）
Scene text detection is a challenging problem in computer vision. In this paper, we propose a novel text detection network based on prevalent object detection frameworks. In order to obtain stronger semantic feature, we adopt ResNet as feature extraction layers and exploit multi-level feature by combining hierarchical convolutional networks. A vertical proposal mechanism is utilized to avoid proposal classification, while regression layer remains working to improve localization accuracy. Our approach evaluated on ICDAR2013 dataset achieves F-measure of 0.91, which outperforms previous state-of…
Indiana University – Purdue University Indianapolis（印第安纳大学与普渡大学印第安纳波利斯联合分校）
Semantic segmentation has achieved great accuracy in understanding spatial layout. For real-time tasks based on dynamic scenes, we extend semantic segmentation in temporal domain to enhance the spatial accuracy with motion. We utilize a shift-mode network over streaming input to ensure zero-latency output. For the data overlap under shifting network, this paper identifies repeated computation in fixed periods across network layers. To avoid this redundancy, we derive a Shift-Memory Network (SMN) from encoding-decoding baseline to reuse the network values without accuracy loss. Trained in patch…
LG Electronics（LG电子）；Lawrence Livermore National Laboratory（劳伦斯利弗莫尔国家实验室）；Korea University（高丽大学）；KAIST（韩国科学技术院）
This paper exploits the intrinsic features of urban-scene images and proposes a general add-on module, called height-driven attention networks (HANet), for improving semantic segmentation for urban-scene images. It emphasizes informative features or classes selectively according to the vertical position of a pixel. The pixel-wise class distributions are significantly different from each other among horizontally segmented sections in the urban-scene images. Likewise, urban-scene images have their own distinct characteristics, but most semantic segmentation networks do not reflect such unique at…
Recently, semantic segmentation and general object detection frameworks have been widely adopted by scene text detecting tasks. However, both of them alone have obvious shortcomings in practice. In this paper, we propose a novel end-to-end trainable deep neural network framework, named Pixel-Anchor, which combines semantic segmentation and SSD in one network by feature sharing and anchor-level attention mechanism to detect oriented scene text. To deal with scene text which has large variances in size and aspect ratio, we combine FPN and ASPP operation as our encoder-decoder structure in the se…
Real-time scene understanding has become crucial in many applications such as autonomous driving. In this paper, we propose a deep architecture, called BlitzNet, that jointly performs object detection and semantic segmentation in one forward pass, allowing real-time computations. Besides the computational gain of having a single network to perform several tasks, we show that object detection and semantic segmentation benefit from each other in terms of accuracy. Experimental results for VOC and COCO datasets show state-of-the-art performance for object detection and segmentation among real tim…
Aalto University（阿尔托大学）；Facebook AI Research（Facebook人工智能研究院）；INRIA（法国国家信息与自动化研究所）
Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model. Recently, deep neural networks have been exploited to regress the mapping between raw pixels and 3D coordinates in the scene, and thus the matching is implicitly performed by the forward pass through the network. However, in a large and ambiguous environment, learning such a regression task directly can be difficult for a single network. In this work, we pres…
Shanghai Jiao Tong University（上海交通大学）；Westone Cryptologic Research Center（威斯顿密码学研究中心）；Xiamen No.1 High School（厦门第一中学）
In this paper, we introduce a novel end-end framework for multi-oriented scene text detection from an instance-aware semantic segmentation perspective. We present Fused Text Segmentation Networks, which combine multi-level features during the feature extracting as text instance may rely on finer feature expression compared to general objects. It detects and segments the text instance jointly and simultaneously, leveraging merits from both semantic segmentation task and region proposal based object detection task. Not involving any extra pipelines, our approach surpasses the current state of th…
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…
The lane detection is a key problem to solve the division of derivable areas in unmanned driving, and the detection accuracy of lane lines plays an important role in the decision-making of vehicle driving. Scenes faced by vehicles in daily driving are relatively complex. Bright light, insufficient light, and crowded vehicles will bring varying degrees of difficulty to lane detection. So we combine the advantages of spatial convolution in spatial information processing and the efficiency of ERFNet in semantic segmentation, propose an end-to-end network to lane detection in a variety of complex …
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the existing object pose estimation methods assume that 3D models of the objects is available beforehand. We present a pipeline that requires minimal human intervention and circumvents the reliance on the availability of 3D models by a fast data acquisition method and a synthetic data generation procedure. This work builds on previous work on semantic segmentat…
Tongji University（同济大学）；University of Electronic Science and Technology of China（电子科技大学）；Megvii (Face++) Technology Inc.（旷视（Face++）科技有限公司）
Scene text detection methods based on deep learning have achieved remarkable results over the past years. However, due to the high diversity and complexity of natural scenes, previous state-of-the-art text detection methods may still produce a considerable amount of false positives, when applied to images captured in real-world environments. To tackle this issue, mainly inspired by Mask R-CNN, we propose in this paper an effective model for scene text detection, which is based on Feature Pyramid Network (FPN) and instance segmentation. We propose a supervised pyramid context network (SPCNET) t…
Zhejiang University（浙江大学）；The Chinese University of Hong Kong（香港中文大学）；Xidian University（西安电子科技大学）
Visual localization is of great importance in robotics and computer vision. Recently, scene coordinate regression based methods have shown good performance in visual localization in small static scenes. However, it still estimates camera poses from many inferior scene coordinates. To address this problem, we propose a novel visual localization framework that establishes 2D-to-3D correspondences between the query image and the 3D map with a series of learnable scene-specific landmarks. In the landmark generation stage, the 3D surfaces of the target scene are over-segmented into mosaic patches w…
Manipulating images of complex scenes to reconstruct, insert and/or remove specific object instances is a challenging task. Complex scenes contain multiple semantics and objects, which are frequently cluttered or ambiguous, thus hampering the performance of inpainting models. Conventional techniques often rely on structural information such as object contours in multi-stage approaches that generate unreliable results and boundaries. In this work, we propose a novel deep learning model to alter a complex urban scene by removing a user-specified portion of the image and coherently inserting a ne…
Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving conditions, e.g. bad weather or weak lighting, while LiDAR scanners are too expensive to get widely deployed in commercial applications. Radar has been drawing more and more attention due to its robustness and low cost. In this paper, we propose a scene-aware radar learning framework for accurate and robust object detection. First, the learning framework conta…
We introduce a compact network for holistic scene flow estimation, called SENSE, which shares common encoder features among four closely-related tasks: optical flow estimation, disparity estimation from stereo, occlusion estimation, and semantic segmentation. Our key insight is that sharing features makes the network more compact, induces better feature representations, and can better exploit interactions among these tasks to handle partially labeled data. With a shared encoder, we can flexibly add decoders for different tasks during training. This modular design leads to a compact and efficie…
Harman International（哈曼国际）；University of Virginia（弗吉尼亚大学）
As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for simultaneous object detection, depth estimation and pixel-level semantic segmentation using a shared convolutional architecture. The proposed network model, which we named Driving Scene Perception Network (DSPNet), uses multi-level feature maps and multi-task learning to improve the accuracy and efficiency of object detection, depth estimation and image segmentation …
Tsinghua University（清华大学）；Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）；Peng Cheng Laboratory（鹏城实验室）
Scene graph generation aims to produce structured representations for images, which requires to understand the relations between objects. Due to the continuous nature of deep neural networks, the prediction of scene graphs is divided into object detection and relation classification. However, the independent relation classes cannot separate the visual features well. Although some methods organize the visual features into graph structures and use message passing to learn contextual information, they still suffer from drastic intra-class variations and unbalanced data distributions. One importan…
We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation networks. Our second contribution is the introduction of a new module based on spatial sampling to perform Instance Segmentation. It provides a very fast instance segmentation, needing only thresholding as post-processing step at inference time. Finally, we propose a novel efficient network design that includes the new modules and test it against different …
Vision-based object detection is one of the fundamental functions in numerous traffic scene applications such as self-driving vehicle systems and advance driver assistance systems (ADAS). However, it is also a challenging task due to the diversity of traffic scene and the storage, power and computing source limitations of the platforms for traffic scene applications. This paper presents a generalized Haar filter based deep network which is suitable for the object detection tasks in traffic scene. In this approach, we first decompose a object detection task into several easier local regression …
Finding and localizing the conceptual changes in two scenes in terms of the presence or removal of objects in two images belonging to the same scene at different times in special care applications is of great significance. This is mainly due to the fact that addition or removal of important objects for some environments can be harmful. As a result, there is a need to design a program that locates these differences using machine vision. The most important challenge of this problem is the change in lighting conditions and the presence of shadows in the scene. Therefore, the proposed methods must…
German Aerospace Center (DLR)（德国航空航天中心）；Technical University of Munich (TUM)（慕尼黑工业大学）；University of British Columbia (UBC)（不列颠哥伦比亚大学）
Aerial scene recognition is a fundamental visual task and has attracted an increasing research interest in the last few years. Most of current researches mainly deploy efforts to categorize an aerial image into one scene-level label, while in real-world scenarios, there often exist multiple scenes in a single image. Therefore, in this paper, we propose to take a step forward to a more practical and challenging task, namely multi-scene recognition in single images. Moreover, we note that manually yielding annotations for such a task is extraordinarily time- and labor-consuming. To address this,…
FSF-Net: Enhance 4D Occupancy Forecasting with Coarse BEV Scene Flow for Autonomous Driving
School of Electronic Information and Communications, Huazhong University of Science and Technology（华中科技大学电子信息与通信学院）；School of Electrical and Information Engineering, Tianjin University（天津大学电气自动化与信息工程学院）
Mines ParisTech（巴黎高等矿业学院）；PSL Research University（巴黎文理研究大学）；Centre for Robotics（机器人中心）
In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that allows for point classification using only the position of points in a multi-scale neighborhood. On the reduced-8 Semantic3D benchmark [Hackel et al., 2017], this network, ranked second, beats the state of the art of point classification methods (those not using a regularization step).
Scene recognition is an image recognition problem aimed at predicting the category of the place at which the image is taken. In this paper, a new scene recognition method using the convolutional neural network (CNN) is proposed. The proposed method is based on the fusion of the object and the scene information in the given image and the CNN framework is named as FOS (fusion of object and scene) Net. In addition, a new loss named scene coherence loss (SCL) is developed to train the FOSNet and to improve the scene recognition performance. The proposed SCL is based on the unique traits of the sce…
Southern University of Science and Technology（南方科技大学）；The University of Hong Kong（香港大学）；Shanghai Jiao Tong University（上海交通大学）
Real-time understanding in video is crucial in various AI applications such as autonomous driving. This work presents a fast single-shot segmentation strategy for video scene understanding. The proposed net, called S3-Net, quickly locates and segments target sub-scenes, meanwhile extracts structured time-series semantic features as inputs to an LSTM-based spatio-temporal model. Utilizing tensorization and quantization techniques, S3-Net is intended to be lightweight for edge computing. Experiments using CityScapes, UCF11, HMDB51 and MOMENTS datasets demonstrate that the proposed S3-Net achieve…
The University of Trento（特伦托大学）；The University of Sydney（悉尼大学）；The Chinese University of Hong Kong（香港中文大学）
Depth estimation and scene parsing are two particularly important tasks in visual scene understanding. In this paper we tackle the problem of simultaneous depth estimation and scene parsing in a joint CNN. The task can be typically treated as a deep multi-task learning problem [42]. Different from previous methods directly optimizing multiple tasks given the input training data, this paper proposes a novel multi-task guided prediction-and-distillation network (PAD-Net), which first predicts a set of intermediate auxiliary tasks ranging from low level to high level, and then the predictions fro…
Generating realistic images from scene graphs asks neural networks to be able to reason about object relationships and compositionality. As a relatively new task, how to properly ensure the generated images comply with scene graphs or how to measure task performance remains an open question. In this paper, we propose to harness scene graph context to improve image generation from scene graphs. We introduce a scene graph context network that pools features generated by a graph convolutional neural network that are then provided to both the image generation network and the adversarial loss. With…
South China University of Technology（华南理工大学）；Pazhou Lab（琶洲实验室）；JD Explore Academy（京东探索研究院）；The University of Sydney（悉尼大学）
Scene graph generation (SGG) aims to detect objects and predict their pairwise relationships within an image. Current SGG methods typically utilize graph neural networks (GNNs) to acquire context information between objects/relationships. Despite their effectiveness, however, current SGG methods only assume scene graph homophily while ignoring heterophily. Accordingly, in this paper, we propose a novel Heterophily Learning Network (HL-Net) to comprehensively explore the homophily and heterophily between objects/relationships in scene graphs. More specifically, HL-Net comprises the following 1)…
While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue for scene understanding - yet very little research has been done on integrating context information with deep models. This paper presents an approach to embed 3D context into the topology of a neural network trained to perform holistic scene understanding. Given a depth image depicting a 3D scene, our network aligns the observed scene with a predefined 3D sc…
Beijing Institute of Technology（北京理工大学）；Nankai University（南开大学）；China Electronics Standardization Institute（中国电子技术标准化研究院）；AICFVE of Beijing Film Academy（北京电影学院数字影视动画创作与理论研究北京市重点实验室）
Three-dimensional (3-D) scene reconstruction is one of the key techniques in Augmented Reality (AR), which is related to the integration of image processing and display systems of complex information. Stereo matching is a computer vision based approach for 3-D scene reconstruction. In this paper, we explore an improved stereo matching network, SLED-Net, in which a Single Long Encoder-Decoder is proposed to replace the stacked hourglass network in PSM-Net for better contextual information learning. We compare SLED-Net to state-of-the-art methods recently published, and demonstrate its superior …
The Chinese University of Hong Kong（香港中文大学）；Shenzhen Institutes of Advanced Technology, CAS（中国科学院深圳先进技术研究院）
Event recognition from still images is of great importance for image understanding. However, compared with event recognition in videos, there are much fewer research works on event recognition in images. This paper addresses the issue of event recognition from images and proposes an effective method with deep neural networks. Specifically, we design a new architecture, called Object-Scene Convolutional Neural Network (OS-CNN). This architecture is decomposed into object net and scene net, which extract useful information for event understanding from the perspective of objects and scene context…
This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene completion and semantic labeling of depth maps separately. However, we observe that these two problems are tightly intertwined. To leverage the coupled nature of these two tasks, we introduce the semantic scene completion network (SSCNet), an end-to-end 3D convolutional network that takes a single depth image as input and simultaneously outputs occupancy and s…
Harbin Institute of Technology, Shenzhen（哈尔滨工业大学（深圳））
Few-Shot Remote Sensing Scene Classification (FSRSSC) is an important task, which aims to recognize novel scene classes with few examples. Recently, several studies attempt to address the FSRSSC problem by following few-shot natural image classification methods. These existing methods have made promising progress and achieved superior performance. However, they all overlook two unique characteristics of remote sensing images: (i) object co-occurrence that multiple objects tend to appear together in a scene image and (ii) object spatial correlation that these co-occurrence objects are distribut…
Single image depth estimation (SIDE) plays a crucial role in 3D computer vision. In this paper, we propose a two-stage robust SIDE framework that can perform blind SIDE for both indoor and outdoor scenes. At the first stage, the scene understanding module will categorize the RGB image into different depth-ranges. We introduce two different scene understanding modules based on scene classification and coarse depth estimation respectively. At the second stage, SIDE networks trained by the images of specific depth-range are applied to obtain an accurate depth map. In order to improve the accuracy…
Baidu Research（百度研究院）；Institute of Computing Technology, Chinese Academy of Sciences（中国科学院计算技术研究所）
Scene parsing is challenging as it aims to assign one of the semantic categories to each pixel in scene images. Thus, pixel-level features are desired for scene parsing. However, classification networks are dominated by the discriminative portion, so directly applying classification networks to scene parsing will result in inconsistent parsing predictions within one instance and among instances of the same category. To address this problem, we propose two transform units to learn pixel-level consensus features. One is an Instance Consensus Transform (ICT) unit to learn the instance-level conse…
School of Remote Sensing and Information Engineering, Wuhan University（武汉大学遥感信息工程学院）；Faculty of Information Engineering, China University of Geosciences（中国地质大学（武汉）信息工程学院）
With the development of deep learning, many state-of-the-art natural image scene classification methods have demonstrated impressive performance. While the current convolution neural network tends to extract global features and global semantic information in a scene, the geo-spatial objects can be located at anywhere in an aerial image scene and their spatial arrangement tends to be more complicated. One possible solution is to preserve more local semantic information and enhance feature propagation. In this paper, an end to end multiple instance dense connected convolution neural network (MID…
Friedrich Schiller University of Jena（耶拿弗里德里希·席勒大学）
Classifying single image patches is important in many different applications, such as road detection or scene understanding. In this paper, we present convolutional patch networks, which are convolutional networks learned to distinguish different image patches and which can be used for pixel-wise labeling. We also show how to incorporate spatial information of the patch as an input to the network, which allows for learning spatial priors for certain categories jointly with an appearance model. In particular, we focus on road detection and urban scene understanding, two application areas where …
Bournemouth University（伯恩茅斯大学）；Xiamen University（厦门大学）；The Chinese University of Hong Kong (Shenzhen)（香港中文大学（深圳））；Tsinghua University（清华大学）
Dense indoor scene modeling from 2D images has been bottlenecked due to the absence of depth information and cluttered occlusions. We present an automatic indoor scene modeling approach using deep features from neural networks. Given a single RGB image, our method simultaneously recovers semantic contents, 3D geometry and object relationship by reasoning indoor environment context. Particularly, we design a shallow-to-deep architecture on the basis of convolutional networks for semantic scene understanding and modeling. It involves multi-level convolutional networks to parse indoor semantics/g…
Shanghai Jiao Tong University（上海交通大学）；University of Cambridge（剑桥大学）
Scene flow represents the 3D motion of every point in the dynamic environments. Like the optical flow that represents the motion of pixels in 2D images, 3D motion representation of scene flow benefits many applications, such as autonomous driving and service robot. This paper studies the problem of scene flow estimation from two consecutive 3D point clouds. In this paper, a novel hierarchical neural network with double attention is proposed for learning the correlation of point features in adjacent frames and refining scene flow from coarse to fine layer by layer. The proposed network has a ne…
Advancements in convolutional neural networks (CNNs) have made significant strides toward achieving high performance levels on multiple object recognition tasks. While some approaches utilize information from the entire scene to propose regions of interest, the task of interpreting a particular region or object is still performed independently of other objects and features in the image. Here we demonstrate that a scene's 'gist' can significantly contribute to how well humans can recognize objects. These findings are consistent with the notion that humans foveate on an object and incorporate in…
Rensselaer Polytechnic Institute（伦斯勒理工学院）；Air Force Research Laboratory（美国空军研究实验室）
Driven by successes in deep learning, computer vision research has begun to move beyond object detection and image classification to more sophisticated tasks like image captioning or visual question answering. Motivating such endeavors is the desire for models to capture not only objects present in an image, but more fine-grained aspects of a scene such as relationships between objects and their attributes. Scene graphs provide a formal construct for capturing these aspects of an image. Despite this, there have been only a few recent efforts to generate scene graphs from imagery. Previous work…
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…
PEGG-Net: Pixel-Wise Efficient Grasp Generation in Complex Scenes
National University of Singapore Graduate School（新加坡国立大学研究生院）；Hong Kong University of Science and Technology（香港科技大学）；National University of Singapore（新加坡国立大学）
Dwarkadas J. Sanghvi College of Engineering（德瓦卡达斯·J·桑格维工程学院）；University of Mumbai（孟买大学）
3D multi object generative models allow us to synthesize a large range of novel 3D multi object scenes and also identify objects, shapes, layouts and their positions. But multi object scenes are difficult to create because of the dataset being multimodal in nature. The conventional 3D generative adversarial models are not efficient in generating multi object scenes, they usually tend to generate either one object or generate fuzzy results of multiple objects. Auto-encoder models have much scope in feature extraction and representation learning using the unsupervised paradigm in probabilistic s…
South China University of Technology（华南理工大学）；SCUT-Zhuhai Institute of Modern Industrial Innovation（华南理工大学珠海现代产业创新研究院）
Irregular text is widely used. However, it is considerably difficult to recognize because of its various shapes and distorted patterns. In this paper, we thus propose a multi-object rectified attention network (MORAN) for general scene text recognition. The MORAN consists of a multi-object rectification network and an attention-based sequence recognition network. The multi-object rectification network is designed for rectifying images that contain irregular text. It decreases the difficulty of recognition and enables the attention-based sequence recognition network to more easily read irregula…
University of Science and Technology Beijing（北京科技大学）
In recent years, attention-based scene text recognition methods have been very popular and attracted the interest of many researchers. Attention-based methods can adaptively focus attention on a small area or even single point during decoding, in which the attention matrix is nearly one-hot distribution. Furthermore, the whole feature maps will be weighted and summed by all attention matrices during inference, causing huge redundant computations. In this paper, we propose an efficient attention-free Single-Point Decoding Network (dubbed SPDN) for scene text recognition, which can replace the t…
Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳人工智能与机器人研究院）；The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳））；The University of Western Australia（西澳大学）
Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics. Currently, a large body of research focuses on developing novel auxiliary features and networks to improve indoor scene recognition ability. However, few of them focus on directly constructing object features and relations for indoor scene recognition. In this paper, we analyze the weaknesses of current methods and propose an Object-to-Scene (OTS) method, which extr…
Gap Completion in Point Cloud Scene occluded by Vehicles using SGC-Net
Chair of Cartography and Visual Analytics, Technical University of Munich（慕尼黑工业大学制图与视觉分析主席）；Institute of Cartography and Geoinformatics, Leibniz University Hannover（汉诺威莱布尼茨大学制图与地理信息研究所）；Computer Vision Group, Technical University of Munich（慕尼黑工业大学计算机视觉组）
