Related papers: Large-scale Point Cloud Semantic Segmentation with…
We study the problem of 3D semantic segmentation from raw point clouds. Unlike existing methods which primarily rely on a large amount of human annotations for training neural networks, we propose the first purely unsupervised method,…
We propose MFSeg, an efficient multi-frame 3D semantic segmentation framework. By aggregating point cloud sequences at the feature level and regularizing the feature extraction and aggregation process, MFSeg reduces computational overhead…
This paper presents a new 3D point cloud classification benchmark data set with over four billion manually labelled points, meant as input for data-hungry (deep) learning methods. We also discuss first submissions to the benchmark that use…
Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…
In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…
Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…
Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…
Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…
Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…
We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…
Semantic labeling of 3D point clouds is important for the derivation of 3D models from real world scenarios in several economic fields such as building industry, facility management, town planning or heritage conservation. In contrast to…
We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…
Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…
Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…
LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…
3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…
Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…
Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…
We introduce PointGauss, a novel point cloud-guided framework for real-time multi-object segmentation in Gaussian Splatting representations. Unlike existing methods that suffer from prolonged initialization and limited multi-view…
Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…