期刊
2020 IEEE/CVF CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR)
卷 -, 期 -, 页码 2937-2946出版社
IEEE
DOI: 10.1109/CVPR42600.2020.00301
关键词
-
资金
- Natural Science Foundation of China (NSFC) [61722209, 6181001011]
3D instance segmentation, with a variety of applications in robotics and augmented reality, is in large demands these days. Unlike 2D images that are projective observations of the environment, 3D models provide metric reconstruction of the scenes without occlusion or scale ambiguity. In this paper, we define 3D occupancy size, as the number of voxels occupied by each instance. It owns advantages of robustness in prediction, on which basis, OccuSeg, an occupancy-aware 3D instance segmentation scheme is proposed. Our multi-task learning produces both occupancy signal and embedding representations, where the training of spatial and feature embedding varies with their difference in scale-aware. Our clustering scheme benefits from the reliable comparison between the predicted occupancy size and the clustered occupancy size, which encourages hard samples being correctly clustered and avoids over segmentation. The proposed approach achieves state-of-the-art performance on 3 real-world datasets, i.e. ScanNetV2, S3DIS and SceneNN, while maintaining high efficiency.
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