Chengkai Shi

Deeply Guided Lightweight 3D Scene Understanding Method and Its Application in Mobile Robot Perception

A depth-guided lightweight multi-task 3D scene understanding method based on a lightweight U-Net architecture, uses RGB and depth four-channel dual- modal input, and constructs a network structure with a shared encoder and independent decoders, allowing a single inference to simultaneously accomplish the three core tasks of semantic segmentation, depth completion, and obstacle detection.