Related papers: Panoster: End-to-end Panoptic Segmentation of LiDA…
3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…
Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…
We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…
State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…
3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…
This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…
Instance segmentation is the problem of detecting and delineating each distinct object of interest appearing in an image. Current instance segmentation approaches consist of ensembles of modules that are trained independently of each other,…
Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…
Forecasting the semantics and 3D structure of scenes is essential for robots to navigate and plan actions safely. Recent methods have explored semantic and panoptic scene forecasting; however, they do not consider the geometry of the scene.…
In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space…
This paper presents a unified framework for depth-aware panoptic segmentation (DPS), which aims to reconstruct 3D scene with instance-level semantics from one single image. Prior works address this problem by simply adding a dense depth…
We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…
Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…
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…
Recently, there has been a panoptic segmentation task combining semantic and instance segmentation, in which the goal is to classify each pixel with the corresponding instance ID. In this work, we propose a solution to tackle the panoptic…
In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…
In this paper, we present an algorithm to tackle a video panoptic segmentation problem, a newly emerging area of research. The video panoptic segmentation is a task that unifies the typical task of panoptic segmentation and multi-object…
In this work, we propose a single deep neural network for panoptic segmentation, for which the goal is to provide each individual pixel of an input image with a class label, as in semantic segmentation, as well as a unique identifier for…
Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…
Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object bounding boxes for 3D panoptic segmentation, which is not…