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The task of object segmentation in videos is usually accomplished by processing appearance and motion information separately using standard 2D convolutional networks, followed by a learned fusion of the two sources of information. On the…

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…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

One of the practical choices for making a lightweight semantic segmentation model is to combine a depth-wise separable convolution with a dilated convolution. However, the simple combination of these two methods results in an…

Large-scale point cloud semantic segmentation is an important task in 3D computer vision, which is widely applied in autonomous driving, robotics, and virtual reality. Current large-scale point cloud semantic segmentation methods usually…

The worldwide commercialization of fifth generation (5G) wireless networks and the exciting possibilities offered by connected and autonomous vehicles (CAVs) are pushing toward the deployment of heterogeneous sensors for tracking dynamic…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

We formulate object segmentation in video as a graph partitioning problem in space and time, in which nodes are pixels and their relations form local neighborhoods. We claim that the strongest cluster in this pixel-level graph represents…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

We present a novel algorithm for point cloud segmentation. Our approach transforms unstructured point clouds into regular voxel grids, and further uses a kernel-based interpolated variational autoencoder (VAE) architecture to encode the…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…