Related papers: Learning to Optimally Segment Point Clouds

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

This paper proposes a hierarchical clustering approach for the segmentation of mobile LiDAR point clouds. We perform the hierarchical clustering on unorganized point clouds based on a proximity matrix. The dissimilarity measure in the…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

We consider the problem of object recognition in 3D using an ensemble of attribute-based classifiers. We propose two new concepts to improve classification in practical situations, and show their implementation in an approach implemented…

Recent advances in autonomous robotic technologies have highlighted the growing need for precise environmental analysis. LiDAR semantic segmentation has gained attention to accomplish fine-grained scene understanding by acting directly on…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

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…

We propose a novel point cloud based 3D organ segmentation pipeline utilizing deep Q-learning. In order to preserve shape properties, the learning process is guided using a statistical shape model. The trained agent directly predicts…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Remarkable progress has been made in object instance detection and segmentation in recent years. However, existing state-of-the-art methods are mostly evaluated with fairly balanced and class-limited benchmarks, such as Microsoft COCO…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

Panoptic segmentation is the recently introduced task that tackles semantic segmentation and instance segmentation jointly. In this paper, we present an extension of SemanticKITTI, which is a large-scale dataset providing dense point-wise…

We propose a novel approach for automatic extraction (instance segmentation) of fibers from low resolution 3D X-ray computed tomography scans of short glass fiber reinforced polymers. We have designed a 3D instance segmentation architecture…