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Recently, numerous learning-based compression methods have been developed with outstanding performance for the coding of the geometry information of point clouds. On the contrary, limited explorations have been devoted to point cloud…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

We present a network architecture for processing point clouds that directly operates on a collection of points represented as a sparse set of samples in a high-dimensional lattice. Naively applying convolutions on this lattice scales…

In this work we address the task of semantic image segmentation with Deep Learning and make three main contributions that are experimentally shown to have substantial practical merit. First, we highlight convolution with upsampled filters,…

The Foundation model for image segmentation, Segment Anything (SAM), has been actively researched in various fields since its proposal. Various researches have been proposed to adapt SAM to specific domains, with one notable approach…

Long-range contextual information is essential for achieving high-performance semantic segmentation. Previous feature re-weighting methods demonstrate that using global context for re-weighting feature channels can effectively improve the…

The deployment of high-accuracy 3D object detection models from point cloud remains a significant challenge due to their substantial computational and memory requirements. To address this, we introduce StripDet, a novel lightweight…

With the rapid development of measurement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning…

Fast methods for convolution and correlation underlie a variety of applications in computer vision and graphics, including efficient filtering, analysis, and simulation. However, standard convolution and correlation are inherently limited…

It is commonly believed that high internal resolution combined with expensive operations (e.g. atrous convolutions) are necessary for accurate semantic segmentation, resulting in slow speed and large memory usage. In this paper, we question…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

LiDAR-based 3D panoptic segmentation often struggles with the inherent sparsity of data from LiDAR sensors, which makes it challenging to accurately recognize distant or small objects. Recently, a few studies have sought to overcome this…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

Modeling the local surface geometry is challenging in 3D point cloud understanding due to the lack of connectivity information. Most prior works model local geometry using various convolution operations. We observe that the convolution can…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…