Related papers: Learning Stixel-based Instance Segmentation

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Instance segmentation methods often require costly per-pixel labels. We propose a method that only requires point-level annotations. During training, the model only has access to a single pixel label per object, yet the task is to output…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Semantic segmentation and object detection research have recently achieved rapid progress. However, the former task has no notion of different instances of the same object, and the latter operates at a coarse, bounding-box level. We propose…

In this paper, we focus on improving binary 2D instance segmentation to assist humans in labeling ground truth datasets with polygons. Humans labeler just have to draw boxes around objects, and polygons are generated automatically. To be…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

BiSeNet has been proved to be a popular two-stream network for real-time segmentation. However, its principle of adding an extra path to encode spatial information is time-consuming, and the backbones borrowed from pretrained tasks, e.g.,…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…