Related papers: Point Cloud Segmentation Using Sparse Temporal Loc…

Recent advancements in machine learning, particularly through deep learning architectures like PointNet, have transformed the processing of three-dimensional (3D) point clouds, significantly improving 3D object classification and…

Point cloud-based 3D object tracking is an important task in autonomous driving. Though great advances regarding Siamese-based 3D tracking have been made recently, it remains challenging to learn the correlation between the template and…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Environment description-based localization in large-scale point cloud maps constructed through remote sensing is critically significant for the advancement of large-scale autonomous systems, such as delivery robots operating in the last…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

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…

Directly learning features from the point cloud has become an active research direction in 3D understanding. Existing learning-based methods usually construct local regions from the point cloud and extract the corresponding features.…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Point cloud-based place recognition is crucial for mobile robots and autonomous vehicles, especially when the global positioning sensor is not accessible. LiDAR points are scattered on the surface of objects and buildings, which have strong…

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…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

Recently Transformer-based models have advanced point cloud understanding by leveraging self-attention mechanisms, however, these methods often overlook latent information in less prominent regions, leading to increased sensitivity to…

The spatial attention mechanism captures long-range dependencies by aggregating global contextual information to each query location, which is beneficial for semantic segmentation. In this paper, we present a sparse spatial attention…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Existing LiDAR-based 3D object detectors usually focus on the single-frame detection, while ignoring the spatiotemporal information in consecutive point cloud frames. In this paper, we propose an end-to-end online 3D video object detector…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

In point cloud analysis tasks, the existing local feature aggregation descriptors (LFAD) are unable to fully utilize information in the neighborhood of central points. Previous methods rely solely on Euclidean distance to constrain the…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…