PanDepth: Joint Panoptic Segmentation and Depth Completion
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2022
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| _version_ | 1866911994826719232 |
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| author | Lagos, Juan Rahtu, Esa |
| author_facet | Lagos, Juan Rahtu, Esa |
| contents | Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic representation while keeping the computational cost low. We propose a multi-task model for panoptic segmentation and depth completion using RGB images and sparse depth maps. Our model successfully predicts fully dense depth maps and performs semantic segmentation, instance segmentation, and panoptic segmentation for every input frame. Extensive experiments were done on the Virtual KITTI 2 dataset and we demonstrate that our model solves multiple tasks, without a significant increase in computational cost, while keeping high accuracy performance. Code is available at https://github.com/juanb09111/PanDepth.git |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2212_14180 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | PanDepth: Joint Panoptic Segmentation and Depth Completion Lagos, Juan Rahtu, Esa Computer Vision and Pattern Recognition Understanding 3D environments semantically is pivotal in autonomous driving applications where multiple computer vision tasks are involved. Multi-task models provide different types of outputs for a given scene, yielding a more holistic representation while keeping the computational cost low. We propose a multi-task model for panoptic segmentation and depth completion using RGB images and sparse depth maps. Our model successfully predicts fully dense depth maps and performs semantic segmentation, instance segmentation, and panoptic segmentation for every input frame. Extensive experiments were done on the Virtual KITTI 2 dataset and we demonstrate that our model solves multiple tasks, without a significant increase in computational cost, while keeping high accuracy performance. Code is available at https://github.com/juanb09111/PanDepth.git |
| title | PanDepth: Joint Panoptic Segmentation and Depth Completion |
| topic | Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2212.14180 |