High-resolution aerial imagery allows fine details in the segmentation of farmlands. However, small objects and features introduce distortions to the delineation of object boundaries, and larger contextual views are needed to mitigate class confusion. In this work, we present an end-to-end trainable network for segmenting farmlands with contour levees from high-resolution aerial imagery. A fusion block is devised that includes multiple voting blocks to achieve image segmentation and classification. We integrate the fusion block with a backbone and produce both semantic predictions and segmentation slices. The segmentation slices are used to perform majority voting on the predictions. The network is trained to assign the most likely class label of a segment to its pixels, learning the concept of farmlands rather than analyzing constitutive pixels separately. We evaluate our method using images from the National Agriculture Imagery Program. Our method achieved an average accuracy of 94.34\%. Compared to the state-of-the-art methods, the proposed method obtains an improvement of 6.96% and 2.63% in the F1 score on average.

We propose 3DETR, an end-to-end Transformer based object detection model for 3D point clouds. Compared to existing detection methods that employ a number of 3D-specific inductive biases, 3DETR requires minimal modifications to the vanilla Transformer block. Specifically, we find that a standard Transformer with non-parametric queries and Fourier positional embeddings is competitive with specialized architectures that employ libraries of 3D-specific operators with hand-tuned hyperparameters. Nevertheless, 3DETR is conceptually simple and easy to implement, enabling further improvements by incorporating 3D domain knowledge. Through extensive experiments, we show 3DETR outperforms the well-established and highly optimized VoteNet baselines on the challenging ScanNetV2 dataset by 9.5%. Furthermore, we show 3DETR is applicable to 3D tasks beyond detection, and can serve as a building block for future research.

Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic agent to extract semantic knowledge about the objects in the environment. In this work, we present a semantic scene understanding pipeline that fuses 2D and 3D detection branches to generate a semantic map of the environment. The 2D mask proposals from state-of-the-art 2D detectors are inverse-projected to the 3D space and combined with 3D detections from point segmentation networks. Unlike previous works that were evaluated on collected datasets, we test our pipeline on an active photo-realistic robotic environment - BenchBot. Our novelty includes rectification of 3D proposals using projected 2D detections and modality fusion based on object size. This work is done as part of the Robotic Vision Scene Understanding Challenge (RVSU). The performance evaluation demonstrates that our pipeline has improved on baseline methods without significant computational bottleneck.