Related papers: SphNet: A Spherical Network for Semantic Pointclou…

Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based on exteroceptive depth measurements, e.g., from LiDARs.…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

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…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

This work investigates the use of deep fully convolutional neural networks (DFCNN) for pixel-wise scene labeling of Earth Observation images. Especially, we train a variant of the SegNet architecture on remote sensing data over an urban…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

Semantic image segmentation is one of fastest growing areas in computer vision with a variety of applications. In many areas, such as robotics and autonomous vehicles, semantic image segmentation is crucial, since it provides the necessary…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Predicting the future is an important aspect for decision-making in robotics or autonomous driving systems, which heavily rely upon visual scene understanding. While prior work attempts to predict future video pixels, anticipate activities…

For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Semantic segmentation is a powerful method to facilitate visual scene understanding. Each pixel is assigned a label according to a pre-defined list of object classes and semantic entities. This becomes very useful as a means to summarize…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…