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Although extensive research has been conducted on 3D point cloud segmentation, effectively adapting generic models to novel categories remains a formidable challenge. This paper proposes a novel approach to improve point cloud few-shot…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

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…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Accurately perceiving and tracking instances over time is essential for the decision-making processes of autonomous agents interacting safely in dynamic environments. With this intention, we propose Mask4Former for the challenging task of…

Existing fully-supervised point cloud segmentation methods suffer in the dynamic testing environment with emerging new classes. Few-shot point cloud segmentation algorithms address this problem by learning to adapt to new classes at the…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

Instance segmentation on 3D point clouds (3DIS) is a longstanding challenge in computer vision, where state-of-the-art methods are mainly based on full supervision. As annotating ground truth dense instance masks is tedious and expensive,…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

Point clouds are a very efficient way to represent volumetric data in medical imaging. First, they do not occupy resources for empty spaces and therefore can avoid trade-offs between resolution and field-of-view for voxel-based 3D…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

Existing 3D instance segmentation methods frequently encounter issues with over-segmentation, leading to redundant and inaccurate 3D proposals that complicate downstream tasks. This challenge arises from their unsupervised merging approach,…

In this paper, we aim to tackle the challenging few-shot segmentation task from a new perspective. Typical methods follow the paradigm to firstly learn prototypical features from support images and then match query features in pixel-level…

Transformers have been seldom employed in point cloud roof plane instance segmentation, which is the focus of this study, and existing superpoint Transformers suffer from limited performance due to the use of low-quality superpoints. To…