Related papers: Unsupervised Object Detection with LiDAR Clues

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Monocular 3D object detection is one of the most challenging tasks in 3D scene understanding. Due to the ill-posed nature of monocular imagery, existing monocular 3D detection methods highly rely on training with the manually annotated 3D…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

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…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Unsupervised object discovery is commonly interpreted as the task of localizing and/or categorizing objects in visual data without the need for labeled examples. While current object recognition methods have proven highly effective for…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Poles and building edges are frequently observable objects on urban roads, conveying reliable hints for various computer vision tasks. To repetitively extract them as features and perform association between discrete LiDAR frames for…

Detecting objects in 3D LiDAR data is a core technology for autonomous driving and other robotics applications. Although LiDAR data is acquired over time, most of the 3D object detection algorithms propose object bounding boxes…

Unsupervised learning poses one of the most difficult challenges in computer vision today. The task has an immense practical value with many applications in artificial intelligence and emerging technologies, as large quantities of unlabeled…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

In this paper we set out to solve the task of 6-DOF 3D object detection from 2D images, where the only supervision is a geometric representation of the objects we aim to find. In doing so, we remove the need for 6-DOF labels (i.e.,…

We present a semi-supervised approach that localizes multiple unknown object instances in long videos. We start with a handful of labeled boxes and iteratively learn and label hundreds of thousands of object instances. We propose criteria…