Related papers: Self-Supervised Learning of Lidar Segmentation for…
We propose the SAL (Segment Anything in Lidar) method consisting of a text-promptable zero-shot model for segmenting and classifying any object in Lidar, and a pseudo-labeling engine that facilitates model training without manual…
3D point clouds are a crucial type of data collected by LiDAR sensors and widely used in transportation applications due to its concise descriptions and accurate localization. Deep neural networks (DNNs) have achieved remarkable success in…
High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…
Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…
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…
Panoptic segmentation of LiDAR point clouds is fundamental to outdoor scene understanding, with autonomous driving being a primary application. While state-of-the-art approaches typically rely on end-to-end deep learning architectures and…
Tracking fish movements and sizes of fish is crucial to understanding their ecology and behaviour. Knowing where fish migrate, how they interact with their environment, and how their size affects their behaviour can help ecologists develop…
Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Deep learning has not been routinely employed for semantic segmentation of seabed environment for synthetic aperture sonar (SAS) imagery due to the implicit need of abundant training data such methods necessitate. Abundant training data,…
This paper presents a framework for semantic segmentation on sparse sequential point clouds of millimeter-wave radar. Compared with cameras and lidars, millimeter-wave radars have the advantage of not revealing privacy, having a strong…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
The ability to endow maps of indoor scenes with semantic information is an integral part of robotic agents which perform different tasks such as target driven navigation, object search or object rearrangement. The state-of-the-art methods…
Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…
Obtaining human per-pixel labels for semantic segmentation is incredibly laborious, often making labeled dataset construction prohibitively expensive. Here, we endeavor to overcome this problem with a novel algorithm that combines…
LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…
Pixel-level labels are particularly expensive to acquire. Hence, pretraining is a critical step to improve models on a task like semantic segmentation. However, prominent algorithms for pretraining neural networks use image-level…
For the semantic segmentation of images, state-of-the-art deep neural networks (DNNs) achieve high segmentation accuracy if that task is restricted to a closed set of classes. However, as of now DNNs have limited ability to operate in an…
While LiDAR data acquisition is easy, labeling for semantic segmentation remains highly time consuming and must therefore be done selectively. Active learning (AL) provides a solution that can iteratively and intelligently label a dataset…
The significant effort required to annotate data for new training datasets hinders computer vision research and machine learning in the construction industry. This work explores adapting standard datasets and the latest transformer model…