Related papers: DRINet++: Efficient Voxel-as-point Point Cloud Seg…

Semantic segmentation and semantic edge detection can be seen as two dual problems with close relationships in computer vision. Despite the fast evolution of learning-based 3D semantic segmentation methods, little attention has been drawn…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

Point cloud semantic segmentation from projected views, such as range-view (RV) and bird's-eye-view (BEV), has been intensively investigated. Different views capture different information of point clouds and thus are complementary to each…

The last few years have seen gigantic leaps in algorithms and systems to support efficient deep learning inference. Pruning and quantization algorithms can now consistently compress neural networks by an order of magnitude. For a compressed…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mechanical spinning LiDAR. This can limit model generalizability…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection challenging. This paper introduces CurbNet, a novel…

Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…

Geometrical structures and the internal local region relationship, such as symmetry, regular array, junction, etc., are essential for understanding a 3D shape. This paper proposes a point cloud feature extraction network named PointSCNet,…

Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…

Diffusion Transformers (DiT) are renowned for their impressive generative performance; however, they are significantly constrained by considerable computational costs due to the quadratic complexity in self-attention and the extensive…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

LiDAR segmentation has become a crucial component of advanced autonomous driving systems. Recent range-view LiDAR segmentation approaches show promise for real-time processing. However, they inevitably suffer from corrupted contextual…

Applying deep neural networks to 3D point cloud processing has attracted increasing attention due to its advanced performance in many areas, such as AR/VR, autonomous driving, and robotics. However, as neural network models and 3D point…

Neural network pruning is a key technique towards engineering large yet scalable, interpretable, and generalizable models. Prior work on the subject has developed largely along two orthogonal directions: (1) differentiable pruning for…

The acceleration of pruned Deep Neural Networks (DNNs) on edge devices such as Microcontrollers (MCUs) is a challenging task, given the tight area- and power-constraints of these devices. In this work, we propose a three-fold contribution…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

Deep learning-based point cloud processing plays an important role in various vision tasks, such as autonomous driving, virtual reality (VR), and augmented reality (AR). The submanifold sparse convolutional network (SSCN) has been widely…