PanDepth: Joint Panoptic Segmentation and Depth Completion

Juan Lagos; Esa Rahtu

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Paper

PanDepth: Joint Panoptic Segmentation and Depth Completion

Topics: Categorization and Scene Understanding; Deep Learning for Visual Understanding ; Multi-task learning

In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP, 635-643, 2023 , Lisbon, Portugal

Authors: Juan Lagos and Esa Rahtu

Affiliation: Tampere University, Tampere, Finland

Keyword(s): Panoptic Segmentation, Instance Segmentation, Semantic Segmentation, Depth Completion, CNN, Multi-Task Learning.

Abstract: 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.

CC BY-NC-ND 4.0

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Paper citation in several formats:

Lagos, J. and Rahtu, E. (2023). PanDepth: Joint Panoptic Segmentation and Depth Completion. In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP; ISBN 978-989-758-634-7; ISSN 2184-4321, SciTePress, pages 635-643. DOI: 10.5220/0011685200003417

@conference{visapp23,
author={Juan Lagos. and Esa Rahtu.},
title={PanDepth: Joint Panoptic Segmentation and Depth Completion},
booktitle={Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP},
year={2023},
pages={635-643},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011685200003417},
isbn={978-989-758-634-7},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2023) - Volume 5: VISAPP
TI - PanDepth: Joint Panoptic Segmentation and Depth Completion
SN - 978-989-758-634-7
IS - 2184-4321
AU - Lagos, J.
AU - Rahtu, E.
PY - 2023
SP - 635
EP - 643
DO - 10.5220/0011685200003417
PB - SciTePress