mlsanityData to 13 Oct 2026

Indoor Semantic Segmentation using depth information

arXiv 1301.3572 ↗First posted 16 Jan 2013cs.CVcited by 56

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Abstract (arXiv)

This work addresses multi-class segmentation of indoor scenes with RGB-D inputs. While this area of research has gained much attention recently, most works still rely on hand-crafted features. In contrast, we apply a multiscale convolutional network to learn features directly from the images and the depth information. We obtain state-of-the-art on the NYU-v2 depth dataset with an accuracy of 64.5%. We illustrate the labeling of indoor scenes in videos sequences that could be processed in real-time using appropriate hardware such as an FPGA.

Key facts. Cited by 56 papers in the map (data through 13 Oct 2026). First posted on arXiv 16 Jan 2013.

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Citing papers per year: 2021: 11; 2022: 8; 2023: 6; 2024: 17; 2025: 11; 2026: 3.

56 papers.

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  1. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,529
  2. 2024Sapiens: Foundation for Human Vision Modelscited by 229
  3. 2023EmbodiedScan: A Holistic Multi-Modal 3D Perception Suite Towards Embodied AIcited by 146
  4. 2021RotoGrad: Gradient Homogenization in Multitask Learningcited by 82
  5. 2023Recon: Reducing Conflicting Gradients from the Root for Multi-Task Learningcited by 50
  6. 2021Deep Learning Based 3D Segmentation: A Surveycited by 30
  7. 2021Learning Deep Multimodal Feature Representation with Asymmetric Multi-layer Fusioncited by 25
  8. 20223D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphscited by 24
  9. 2024OmniControlNet: Dual-stage Integration for Conditional Image Generationcited by 24
  10. 2021AutoMTL: A Programming Framework for Automating Efficient Multi-Task Learningcited by 17
  11. 2022CaRTS: Causality-driven Robot Tool Segmentation from Vision and Kinematics Datacited by 16
  12. 2024Near, far: Patch-ordering enhances vision foundation models' scene understandingcited by 15
38 more
  1. 2024Proactive Gradient Conflict Mitigation in Multi-Task Learning: A Sparse Training Perspectivecited by 12
  2. 2021Towards a Computed-Aided Diagnosis System in Colonoscopy: Automatic Polyp Segmentation Using Convolution Neural Networkscited by 10
  3. 2021Deep Learning for Scene Classification: A Surveycited by 9
  4. 2022Robust Double-Encoder Network for RGB-D Panoptic Segmentationcited by 8
  5. 2025Occupancy World Model for Robotscited by 8
  6. 2024Pixel-aligned RGB-NIR Stereo Imaging and Dataset for Robot Visioncited by 7
  7. 2024Modality-Incremental Learning with Disjoint Relevance Mapping Networks for Image-based Semantic Segmentationcited by 6
  8. 2024Helvipad: A Real-World Dataset for Omnidirectional Stereo Depth Estimationcited by 6
  9. 2021Multi-Modal RGB-D Scene Recognition Across Domainscited by 5
  10. 2021Deep feature selection-and-fusion for RGB-D semantic segmentationcited by 5
  11. 2024QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understandingcited by 5
  12. 2024Multi-Task Label Discovery via Hierarchical Task Tokens for Partially Annotated Dense Predictionscited by 4
  13. 2025Revisiting Cross-Modal Knowledge Distillation: A Disentanglement Approach for RGBD Semantic Segmentationcited by 4
  14. 2021DCL: Differential Contrastive Learning for Geometry-Aware Depth Synthesiscited by 3
  15. 2022DepthFormer: Multimodal Positional Encodings and Cross-Input Attention for Transformer-Based Segmentation Networkscited by 3
  16. 2023Learning Task-preferred Inference Routes for Gradient De-conflict in Multi-output DNNscited by 3
  17. 2023Multi-View Representation is What You Need for Point-Cloud Pre-Trainingcited by 3
  18. 2024Multi-Task Learning with Multi-Task Optimizationcited by 3
  19. 2022Exploiting Correspondences with All-pairs Correlations for Multi-view Depth Estimationcited by 2
  20. 2024Depth-guided NeRF Training via Earth Mover's Distancecited by 2
  21. 2024Context is the Key: Backdoor Attacks for In-Context Learning with Vision Transformerscited by 2
  22. 2024Volumetric Mapping with Panoptic Refinement via Kernel Density Estimation for Mobile Robotscited by 2
  23. 2021Multi-modal land cover mapping of remote sensing images using pyramid attention and gated fusion networkscited by 1
  24. 2024Deep Learning-Based 3D Instance and Semantic Segmentation: A Reviewcited by 1
  25. 2024CSFNet: A Cosine Similarity Fusion Network for Real-Time RGB-X Semantic Segmentation of Driving Scenescited by 1
  26. 2024CSCPR: Cross-Source-Context Indoor RGB-D Place Recognitioncited by 1
  27. 2024Diffusion-based RGB-D Semantic Segmentation with Deformable Attention Transformercited by 1
  28. 2025Beyond Classification: Evaluating Diffusion Denoised Smoothing for Security-Utility Trade offcited by 1
  29. 2025Self-supervised Latent Space Optimization with Nebula Variational Codingcited by 1
  30. 2025Zero-shot Inexact CAD Model Alignment from a Single Imagecited by 1
  31. 2025Meta Fusion: A Unified Framework For Multimodality Fusion with Mutual Learningcited by 1
  32. 2025Patch-Level Kernel Alignment for Dense Self-Supervised Learningcited by 1
  33. 2025Multimodal SAM-adapter for Semantic Segmentationcited by 1
  34. 2021Evaluation of Multimodal Semantic Segmentation using RGB-D Datacited by 0
  35. 2022Scale Invariant Semantic Segmentation with RGB-D Fusioncited by 0
  36. 2022HCFormer: Unified Image Segmentation with Hierarchical Clusteringcited by 0
  37. 2023Optimizing rgb-d semantic segmentation through multi-modal interaction and pooling attentioncited by 0
  38. 2023SeeBel: Seeing is Believingcited by 0

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