We present Generative Semantic Segmentation (GSS), a generative learning approach for semantic segmentation. Uniquely, we cast semantic segmentation as an image-conditioned mask generation problem. This is achieved by replacing the conventional per-pixel discriminative learning with a latent prior learning process. Specifically, we model the variational posterior distribution of latent variables given the segmentation mask. To that end, the segmentation mask is expressed with a special type of image (dubbed as maskige). This posterior distribution allows to generate segmentation masks unconditionally. To achieve semantic segmentation on a given image, we further introduce a conditioning network. It is optimized by minimizing the divergence between the posterior distribution of maskige (i.e., segmentation masks) and the latent prior distribution of input training images. Extensive experiments on standard benchmarks show that our GSS can perform competitively to prior art alternatives in the standard semantic segmentation setting, whilst achieving a new state of the art in the more challenging cross-domain setting.
Semantic segmentation is one of the basic topics in computer vision, it aims to assign semantic labels to every pixel of an image. Unbalanced semantic label distribution could have a negative influence on segmentation accuracy. In this paper, we investigate using data augmentation approach to balance the semantic label distribution in order to improve segmentation performance. We propose using generative adversarial networks (GANs) to generate realistic images for improving the performance of semantic segmentation networks. Experimental results show that the proposed method can not only improv…
We introduce a novel 3D object proposal approach named Generative Shape Proposal Network (GSPN) for instance segmentation in point cloud data. Instead of treating object proposal as a direct bounding box regression problem, we take an analysis-by-synthesis strategy and generate proposals by reconstructing shapes from noisy observations in a scene. We incorporate GSPN into a novel 3D instance segmentation framework named Region-based PointNet (R-PointNet) which allows flexible proposal refinement and instance segmentation generation. We achieve state-of-the-art performance on several 3D instanc…
Recent mainstream weakly-supervised semantic segmentation (WSSS) approaches mainly relies on image-level classification learning, which has limited representation capacity. In this paper, we propose a novel semantic learning based framework, named SLAMs (Semantic Learning based Activation Map), for WSSS.
Currently, Segmentation of bitewing radiograpy images is a very challenging task. The focus of the study is to segment it into caries, enamel, dentin, pulp, crowns, restoration and root canal treatments. The main method of semantic segmentation of bitewing radiograpy images at this stage is the U-shaped deep convolution neural network, but its accuracy is low. in order to improve the accuracy of semantic segmentation of bitewing radiograpy images, this paper proposes the use of Conditional Generative Adversarial network (cGAN) combined with U-shaped network structure (U-Net) approach to semant…
East China University of Science and Technology（华东理工大学）；Tongji University（同济大学）；Swinburne University of Technology（斯威本科技大学）
Visual semantic segmentation aims at separating a visual sample into diverse blocks with specific semantic attributes and identifying the category for each block, and it plays a crucial role in environmental perception. Conventional learning-based visual semantic segmentation approaches count heavily on large-scale training data with dense annotations and consistently fail to estimate accurate semantic labels for unseen categories. This obstruction spurs a craze for studying visual semantic segmentation with the assistance of few/zero-shot learning. The emergence and rapid progress of few/zero…
Active learning aims to address the paucity of labeled data by finding the most informative samples. However, when applying to semantic segmentation, existing methods ignore the segmentation difficulty of different semantic areas, which leads to poor performance on those hard semantic areas such as tiny or slender objects. To deal with this problem, we propose a semantic Difficulty-awarE Active Learning (DEAL) network composed of two branches: the common segmentation branch and the semantic difficulty branch. For the latter branch, with the supervision of segmentation error between the segment…
This paper proposes a generative ScatterNet hybrid deep learning (G-SHDL) network for semantic image segmentation. The proposed generative architecture is able to train rapidly from relatively small labeled datasets using the introduced structural priors. In addition, the number of filters in each layer of the architecture is optimized resulting in a computationally efficient architecture. The G-SHDL network produces state-of-the-art classification performance against unsupervised and semi-supervised learning on two image datasets. Advantages of the G-SHDL network over supervised methods are d…
Scene understanding is an essential technique in semantic segmentation. Although there exist several datasets that can be used for semantic segmentation, they are mainly focused on semantic image segmentation with large deep neural networks. Therefore, these networks are not useful for real time applications, especially in autonomous driving systems. In order to solve this problem, we make two contributions to semantic segmentation task. The first contribution is that we introduce the semantic video dataset, the Highway Driving dataset, which is a densely annotated benchmark for a semantic vid…
We present a simple and effective framework for simultaneous semantic segmentation and instance segmentation with Fully Convolutional Networks (FCNs). The method, called BiSeg, predicts instance segmentation as a posterior in Bayesian inference, where semantic segmentation is used as a prior. We extend the idea of position-sensitive score maps used in recent methods to a fusion of multiple score maps at different scales and partition modes, and adopt it as a robust likelihood for instance segmentation inference. As both Bayesian inference and map fusion are performed per pixel, BiSeg is a full…
We present a single network method for panoptic segmentation. This method combines the predictions from a jointly trained semantic and instance segmentation network using heuristics. Joint training is the first step towards an end-to-end panoptic segmentation network and is faster and more memory efficient than training and predicting with two networks, as done in previous work. The architecture consists of a ResNet-50 feature extractor shared by the semantic segmentation and instance segmentation branch. For instance segmentation, a Mask R-CNN type of architecture is used, while the semantic …
With the development of underwater object grabbing technology, underwater object recognition and segmentation of high accuracy has become a challenge. The existing underwater object detection technology can only give the general position of an object, unable to give more detailed information such as the outline of the object, which seriously affects the grabbing efficiency. To address this problem, we label and establish the first underwater semantic segmentation dataset of real scene(DUT-USEG:DUT Underwater Segmentation Dataset). The DUT- USEG dataset includes 6617 images, 1487 of which have …
It is well accepted that image segmentation can benefit from utilizing multilevel cues. The paper focuses on utilizing the FCNN-based dense semantic predictions in the bottom-up image segmentation, arguing to take semantic cues into account from the very beginning. By this we can avoid merging regions of similar appearance but distinct semantic categories as possible. The semantic inefficiency problem is handled. We also propose a straightforward way to use the contour cues to suppress the noise in multilevel cues, thus to improve the segmentation robustness. The evaluation on the BSDS500 show…
Universidade Federal da Bahia（巴伊亚联邦大学）；Universidade Federal do Maranhão（马拉尼昂联邦大学）
This paper introduces a method for image semantic segmentation grounded on a novel fusion scheme, which takes place inside a deep convolutional neural network. The main goal of our proposal is to explore object boundary information to improve the overall segmentation performance. Unlike previous works that combine boundary and segmentation features, or those that use boundary information to regularize semantic segmentation, we instead propose a novel approach that embodies boundary information onto segmentation. For that, our semantic segmentation method uses two streams, which are combined th…
This survey gives an overview over different techniques used for pixel-level semantic segmentation. Metrics and datasets for the evaluation of segmentation algorithms and traditional approaches for segmentation such as unsupervised methods, Decision Forests and SVMs are described and pointers to the relevant papers are given. Recently published approaches with convolutional neural networks are mentioned and typical problematic situations for segmentation algorithms are examined. A taxonomy of segmentation algorithms is given.
Google Inc.（谷歌公司）；RWTH Aachen University（亚琛工业大学）；UCLA（加利福尼亚大学洛杉矶分校）
In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection, semantic segmentation, and direction prediction. Building on top of the Faster-RCNN object detector, the predicted boxes provide accurate localization of object instances. Within each region of interest, MaskLab performs foreground/background segmentation by combining semantic and direction prediction. Semantic segmentation assists the model in distinguishi…
University of Amsterdam（阿姆斯特丹大学）；DUniversum B.V.（3DUniversum B.V.）
Semantic segmentation of outdoor scenes is problematic when there are variations in imaging conditions. It is known that albedo (reflectance) is invariant to all kinds of illumination effects. Thus, using reflectance images for semantic segmentation task can be favorable. Additionally, not only segmentation may benefit from reflectance, but also segmentation may be useful for reflectance computation. Therefore, in this paper, the tasks of semantic segmentation and intrinsic image decomposition are considered as a combined process by exploring their mutual relationship in a joint fashion. To th…
Existing semantic segmentation models heavily rely on dense pixel-wise annotations. To reduce the annotation pressure, we focus on a challenging task named zero-shot semantic segmentation, which aims to segment unseen objects with zero annotations. This task can be accomplished by transferring knowledge across categories via semantic word embeddings. In this paper, we propose a novel context-aware feature generation method for zero-shot segmentation named CaGNet. In particular, with the observation that a pixel-wise feature highly depends on its contextual information, we insert a contextual m…
Zhejiang University（浙江大学）；University of Technology Sydney（悉尼科技大学）；Baidu Research（百度研究院）
Prevalent semantic segmentation solutions are, in essence, a dense discriminative classifier of p(class|pixel feature). Though straightforward, this de facto paradigm neglects the underlying data distribution p(pixel feature|class), and struggles to identify out-of-distribution data. Going beyond this, we propose GMMSeg, a new family of segmentation models that rely on a dense generative classifier for the joint distribution p(pixel feature,class). For each class, GMMSeg builds Gaussian Mixture Models (GMMs) via Expectation-Maximization (EM), so as to capture class-conditional densities. Meanw…
Hong Kong University of Science and Technology（香港科技大学）；Microsoft Research Asia（微软亚洲研究院）；Everest Innovation Technology（珠科创新技术）
In this paper, we present a joint multi-task learning framework for semantic segmentation and boundary detection. The critical component in the framework is the iterative pyramid context module (PCM), which couples two tasks and stores the shared latent semantics to interact between the two tasks. For semantic boundary detection, we propose the novel spatial gradient fusion to suppress nonsemantic edges. As semantic boundary detection is the dual task of semantic segmentation, we introduce a loss function with boundary consistency constraint to improve the boundary pixel accuracy for semantic …
We introduce a method that allows to automatically segment images into semantically meaningful regions without human supervision. Derived regions are consistent across different images and coincide with human-defined semantic classes on some datasets. In cases where semantic regions might be hard for human to define and consistently label, our method is still able to find meaningful and consistent semantic classes. In our work, we use pretrained StyleGAN2 generative model: clustering in the feature space of the generative model allows to discover semantic classes. Once classes are discovered, …
Accurate semantic labeling of image pixels is difficult because intra-class variability is often greater than inter-class variability. In turn, fast semantic segmentation is hard because accurate models are usually too complicated to also run quickly at test-time. Our experience with building and running semantic segmentation systems has also shown a reasonably obvious bottleneck on model complexity, imposed by small training datasets. We therefore propose two simple complementary strategies that leverage context to give better semantic segmentation, while scaling up or down to train on differ…
University of Technology Sydney（悉尼科技大学）；Tencent AI LAB（腾讯AI实验室）；University of Sydney（悉尼大学）
Spatial and channel attentions, modelling the semantic interdependencies in spatial and channel dimensions respectively, have recently been widely used for semantic segmentation. However, computing spatial and channel attentions separately sometimes causes errors, especially for those difficult cases. In this paper, we propose Channelized Axial Attention (CAA) to seamlessly integrate channel attention and spatial attention into a single operation with negligible computation overhead. Specifically, we break down the dot-product operation of the spatial attention into two parts and insert channe…
University of Genova（热那亚大学）；Istituto Italiano di Tecnologia（意大利技术研究院）；University of Trento（特伦托大学）；Allen Institute for AI（艾伦人工智能研究所）
In this paper we introduce a novel method for general semantic segmentation that can benefit from general semantics of Convolutional Neural Network (CNN). Our segmentation proposes visually and semantically coherent image segments. We use binary encoding of CNN features to overcome the difficulty of the clustering on the high-dimensional CNN feature space. These binary codes are very robust against noise and non-semantic changes in the image. These binary encoding can be embedded into the CNN as an extra layer at the end of the network. This results in real-time segmentation. To the best of ou…
We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep fully convolutional regression network. Thus it follows a different pipeline to the popular detect-then-segment approaches that first predict instances' bounding boxes, which are the current state-of-the-art in instance segmentation. We show that, by leveraging the strength of our state-of-the-art semantic segmentation models, the proposed method can achieve co…
Due to real-time image semantic segmentation needs on power constrained edge devices, there has been an increasing desire to design lightweight semantic segmentation neural network, to simultaneously reduce computational cost and increase inference speed. In this paper, we propose an efficient asymmetric dilated semantic segmentation network, named EADNet, which consists of multiple developed asymmetric convolution branches with different dilation rates to capture the variable shapes and scales information of an image. Specially, a multi-scale multi-shape receptive field convolution (MMRFC) bl…
Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of imagery for automated semantic understanding of pedestrian environments, provides remote mapping of accessibility features in street environments. This application (and others like it) require detailed geometric information of geographical objects. Semantic segmentation is a prerequisite for this task since it maps contiguous regions of the same class as sing…
University of Science and Technology of China（中国科学技术大学）
The capability of image semantic segmentation may be deteriorated due to noisy input image, where image denoising prior to segmentation helps. Both image denoising and semantic segmentation have been developed significantly with the advance of deep learning. Thus, we are interested in the synergy between them by using a holistic deep model. We observe that not only denoising helps combat the drop of segmentation accuracy due to noise, but also pixel-wise semantic information boosts the capability of denoising. We then propose a boosting network to perform denoising and segmentation alternately…
Tsinghua University（清华大学）；Microsoft Research Asia（微软亚洲研究院）
Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further exploit the inherent relationship between shape semantics and part instances. In this paper, we present a new method for 3D part instance segmentation. Our method exploits semantic segmentation to fuse nonlocal instance features, such as center prediction, and further enhances the fusion scheme in a multi- and cross-level way. We also propose a semantic region cen…
The Hong Kong University of Science and Technology（香港科技大学）
Classical close-set semantic segmentation networks have limited ability to detect out-of-distribution (OOD) objects, which is important for safety-critical applications such as autonomous driving. Incrementally learning these OOD objects with few annotations is an ideal way to enlarge the knowledge base of the deep learning models. In this paper, we propose an open world semantic segmentation system that includes two modules: (1) an open-set semantic segmentation module to detect both in-distribution and OOD objects. (2) an incremental few-shot learning module to gradually incorporate those OO…
We present a two-module approach to semantic segmentation that incorporates Convolutional Networks (CNNs) and Graphical Models. Graphical models are used to generate a small (5-30) set of diverse segmentations proposals, such that this set has high recall. Since the number of required proposals is so low, we can extract fairly complex features to rank them. Our complex feature of choice is a novel CNN called SegNet, which directly outputs a (coarse) semantic segmentation. Importantly, SegNet is specifically trained to optimize the corpus-level PASCAL IOU loss function. To the best of our knowl…
The deficiency of segmentation labels is one of the main obstacles to semantic segmentation in the wild. To alleviate this issue, we present a novel framework that generates segmentation labels of images given their image-level class labels. In this weakly supervised setting, trained models have been known to segment local discriminative parts rather than the entire object area. Our solution is to propagate such local responses to nearby areas which belong to the same semantic entity. To this end, we propose a Deep Neural Network (DNN) called AffinityNet that predicts semantic affinity between…
The importance and demands of visual scene understanding have been steadily increasing along with the active development of autonomous systems. Consequently, there has been a large amount of research dedicated to semantic segmentation and dense motion estimation. In this paper, we propose a method for jointly estimating optical flow and temporally consistent semantic segmentation, which closely connects these two problem domains and leverages each other. Semantic segmentation provides information on plausible physical motion to its associated pixels, and accurate pixel-level temporal correspon…
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）；Laboratoire Jean Kuntzmann（让·昆兹曼实验室）
Adversarial training has been shown to produce state of the art results for generative image modeling. In this paper we propose an adversarial training approach to train semantic segmentation models. We train a convolutional semantic segmentation network along with an adversarial network that discriminates segmentation maps coming either from the ground truth or from the segmentation network. The motivation for our approach is that it can detect and correct higher-order inconsistencies between ground truth segmentation maps and the ones produced by the segmentation net. Our experiments show th…
University of Science and Technology of China（中国科学技术大学）；Tsinghua University（清华大学）；The Hong Kong University of Science and Technology（香港科技大学）
This paper proposes a convolutional neural network that can fuse high-level prior for semantic image segmentation. Motivated by humans' vision recognition system, our key design is a three-layer generative structure consisting of high-level coding, middle-level segmentation and low-level image to introduce global prior for semantic segmentation. Based on this structure, we proposed a generative model called conditional variational auto-encoder (CVAE) that can build up the links behind these three layers. These important links include an image encoder that extracts high level info from image, a…
Precise and accurate predictions over boundary areas are essential for semantic segmentation. However, the commonly-used convolutional operators tend to smooth and blur local detail cues, making it difficult for deep models to generate accurate boundary predictions. In this paper, we introduce an operator-level approach to enhance semantic boundary awareness, so as to improve the prediction of the deep semantic segmentation model. Specifically, we first formulate the boundary feature enhancement as an anisotropic diffusion process. We then propose a novel learnable approach called semantic dif…
Semantic segmentation methods can not directly identify abnormal objects in images. Anomaly Segmentation algorithm from this realistic setting can distinguish between in-distribution objects and Out-Of-Distribution (OOD) objects and output the anomaly probability for pixels. In this paper, a Prototype Guided Anomaly segmentation Network (PGAN) is proposed to extract semantic prototypes for in-distribution training data from limited annotated images. In the model, prototypes are used to model the hierarchical category semantic information and distinguish OOD pixels. The proposed PGAN model incl…
Semantic segmentation is an important and prevalent task, but severely suffers from the high cost of pixel-level annotations when extending to more classes in wider applications. To this end, we focus on the problem named weak-shot semantic segmentation, where the novel classes are learnt from cheaper image-level labels with the support of base classes having off-the-shelf pixel-level labels. To tackle this problem, we propose SimFormer, which performs dual similarity transfer upon MaskFormer. Specifically, MaskFormer disentangles the semantic segmentation task into two sub-tasks: proposal cla…
Deep learning has been revolutionary for computer vision and semantic segmentation in particular, with Bayesian Deep Learning (BDL) used to obtain uncertainty maps from deep models when predicting semantic classes. This information is critical when using semantic segmentation for autonomous driving for example. Standard semantic segmentation systems have well-established evaluation metrics. However, with BDL's rising popularity in computer vision we require new metrics to evaluate whether a BDL method produces better uncertainty estimates than another method. In this work we propose three such…
In this paper, we tackle the unsupervised domain adaptation (UDA) for semantic segmentation, which aims to segment the unlabeled real data using labeled synthetic data. The main problem of UDA for semantic segmentation relies on reducing the domain gap between the real image and synthetic image. To solve this problem, we focused on separating information in an image into content and style. Here, only the content has cues for semantic segmentation, and the style makes the domain gap. Thus, precise separation of content and style in an image leads to effect as supervision of real data even when …
University of California San Diego（加州大学圣地亚哥分校）；Cornell NYC Tech（康奈尔纽约科技学院）；Korea Electronics Technology Institute（韩国电子技术研究院）
We explore the efficiency of the CRF inference beyond image level semantic segmentation and perform joint inference in video frames. The key idea is to combine best of two worlds: semantic co-labeling and more expressive models. Our formulation enables us to perform inference over ten thousand images within seconds and makes the system amenable to perform video semantic segmentation most effectively. On CamVid dataset, with TextonBoost unaries, our proposed method achieves up to 8% improvement in accuracy over individual semantic image segmentation without additional time overhead. The source …
Nanjing University（南京大学）；University of Wollongong（伍伦贡大学）
To address the annotation scarcity issue in some cases of semantic segmentation, there have been a few attempts to develop the segmentation model in the few-shot learning paradigm. However, most existing methods only focus on the traditional 1-way segmentation setting (i.e., one image only contains a single object). This is far away from practical semantic segmentation tasks where the K-way setting (K>1) is usually required by performing the accurate multi-object segmentation. To deal with this issue, we formulate the few-shot semantic segmentation task as a learning-based pixel classification…
Huazhong University of Science and Technology（华中科技大学）
In this paper, we propose a novel joint instance and semantic segmentation approach, which is called JSNet, in order to address the instance and semantic segmentation of 3D point clouds simultaneously. Firstly, we build an effective backbone network to extract robust features from the raw point clouds. Secondly, to obtain more discriminative features, a point cloud feature fusion module is proposed to fuse the different layer features of the backbone network. Furthermore, a joint instance semantic segmentation module is developed to transform semantic features into instance embedding space, an…
Ulsan National Institute of Science and Technology（蔚山科学技术院）
Few-shot learning allows machines to classify novel classes using only a few labeled samples. Recently, few-shot segmentation aiming at semantic segmentation on low sample data has also seen great interest. In this paper, we propose a learnable module that can be placed on top of existing segmentation networks for performing few-shot segmentation. This module, called the task-adaptive feature transformer (TAFT), linearly transforms task-specific high-level features to a set of task agnostic features well-suited to conducting few-shot segmentation. The task-conditioned feature transformation al…
Télécom Paris - Institut Polytechnique de Paris（巴黎理工学院巴黎电信学院）；Università di Napoli Parthenope（那不勒斯帕泰诺佩大学）；La Rochelle Université（拉罗谢尔大学）
Semantic segmentation is a fundamental topic in computer vision. Several deep learning methods have been proposed for semantic segmentation with outstanding results. However, these models require a lot of densely annotated images. To address this problem, we propose a new algorithm that uses HyperGraph Convolutional Networks for Weakly-supervised Semantic Segmentation (HyperGCN-WSS). Our algorithm constructs spatial and k-Nearest Neighbor (k-NN) graphs from the images in the dataset to generate the hypergraphs. Then, we train a specialized HyperGraph Convolutional Network (HyperGCN) architectu…
TuSimple（图森未来）；University of Central Florida（中佛罗里达大学）
This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation, object detection, and panoptic segmentation in a single framework. At the core of LidarMultiNet is a strong 3D voxel-based encoder-decoder network with a novel Global Context Pooling (GCP) module extracting global contextual features from a LiDAR frame to complement its local features. An optional second stage is proposed to refine the first-stage segmentati…
Zero-shot learning has been actively studied for image classification task to relieve the burden of annotating image labels. Interestingly, semantic segmentation task requires more labor-intensive pixel-wise annotation, but zero-shot semantic segmentation has only attracted limited research interest. Thus, we focus on zero-shot semantic segmentation, which aims to segment unseen objects with only category-level semantic representations provided for unseen categories. In this paper, we propose a novel Context-aware feature Generation Network (CaGNet), which can synthesize context-aware pixel-wi…
To overcome the data-hungry challenge, we have proposed a semi-supervised contrastive learning framework for the task of class-imbalanced semantic segmentation. First and foremost, to make the model operate in a semi-supervised manner, we proposed the confidence-level-based contrastive learning to achieve instance discrimination in an explicit manner, and make the low-confidence low-quality features align with the high-confidence counterparts. Moreover, to tackle the problem of class imbalance in crack segmentation and road components extraction, we proposed the data imbalance loss to replace …
ETH Zurich（苏黎世联邦理工学院）；University of Bonn（波恩大学）；KU Leuven（鲁汶大学）
Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we present a framework for semi-supervised semantic segmentation, which is enhanced by self-supervised monocular depth estimation from unlabeled image sequences. In particular, we propose three key contributions: (1) We transfer knowledge from features learned during self-supervised depth estimation to semantic segmentation, (2) we implement a strong data augment…
Toyota Technological Institute at Chicago（芝加哥丰田技术研究所）；Google（谷歌）
We leverage unsupervised learning of depth, egomotion, and camera intrinsics to improve the performance of single-image semantic segmentation, by enforcing 3D-geometric and temporal consistency of segmentation masks across video frames. The predicted depth, egomotion, and camera intrinsics are used to provide an additional supervision signal to the segmentation model, significantly enhancing its quality, or, alternatively, reducing the number of labels the segmentation model needs. Our experiments were performed on the ScanNet dataset.
Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of video sequences in an unsupervised manner. We make use of a 3D mesh representation of the environment and fuse the predictions of different frames into a consistent representation using semantic mesh textures. Rendering the semantic mesh using the original intrinsic and extrinsic camera parameters yields a set of improved semantic segmentation images. Due t…
