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Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

3D point cloud semantic segmentation is fundamental for autonomous driving. Most approaches in the literature neglect an important aspect, i.e., how to deal with domain shift when handling dynamic scenes. This can significantly hinder the…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Cloud segmentation plays a crucial role in image analysis for climate modeling. Manually labeling the training data for cloud segmentation is time-consuming and error-prone. We explore to train segmentation networks with synthetic data due…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

This paper focuses on the unsupervised domain adaptation of transferring the knowledge from the source domain to the target domain in the context of semantic segmentation. Existing approaches usually regard the pseudo label as the ground…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

This paper introduces a novel synthetic dataset that captures urban scenes under a variety of weather conditions, providing pixel-perfect, ground-truth-aligned images to facilitate effective feature alignment across domains. Additionally,…

Weakly-supervised point cloud segmentation with extremely limited labels is highly desirable to alleviate the expensive costs of collecting densely annotated 3D points. This paper explores applying the consistency regularization that is…

Owing to the typical long-tail data distribution issues, simulating domain-gap-free synthetic data is crucial in robotics, photogrammetry, and computer vision research. The fundamental challenge pertains to credibly measuring the difference…

Semantic segmentation of 3D geospatial point clouds is fundamental to remote sensing applications, yet domain shifts caused by regional and acquisition-related variations often degrade model performance. Although domain adaptation can…

Training deep networks for semantic segmentation requires annotation of large amounts of data, which can be time-consuming and expensive. Unfortunately, these trained networks still generalize poorly when tested in domains not consistent…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

With recent success of deep learning in 2D visual recognition, deep learning-based 3D point cloud analysis has received increasing attention from the community, especially due to the rapid development of autonomous driving technologies.…

Semantic segmentation is an important task for intelligent vehicles to understand the environment. Current deep learning methods require large amounts of labeled data for training. Manual annotation is expensive, while simulators can…

Semantic segmentation of point cloud usually relies on dense annotation that is exhausting and costly, so it attracts wide attention to investigate solutions for the weakly supervised scheme with only sparse points annotated. Existing works…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…