Related papers: UniSeg: A Unified Multi-Modal LiDAR Segmentation N…

We present MSeg, a composite dataset that unifies semantic segmentation datasets from different domains. A naive merge of the constituent datasets yields poor performance due to inconsistent taxonomies and annotation practices. We reconcile…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Point-pixel registration between LiDAR point clouds and camera images is a fundamental yet challenging task in autonomous driving and robotic perception. A key difficulty lies in the modality gap between unstructured point clouds and…

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…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

This study analyzes semantic segmentation performance across heterogeneously labeled point-cloud datasets relevant to public safety applications, including pre-incident planning systems derived from lidar scans. Using NIST's Point Cloud…

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,…

Semantic-aware 3D reconstruction from sparse, unposed images remains challenging for feed-forward 3D Gaussian Splatting (3DGS). Existing methods often predict an over-complete set of Gaussian primitives under sparse-view supervision,…

Multi-modal perception is essential for unmanned aerial vehicle (UAV) operations, as it enables a comprehensive understanding of the UAVs' surrounding environment. However, most existing multi-modal UAV datasets are primarily biased toward…

LiDAR segmentation is crucial for autonomous driving perception. Recent trends favor point- or voxel-based methods as they often yield better performance than the traditional range view representation. In this work, we unveil several key…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

LiDAR-based 3D object detection, semantic segmentation, and panoptic segmentation are usually implemented in specialized networks with distinctive architectures that are difficult to adapt to each other. This paper presents LidarMultiNet, a…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

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…

Point cloud segmentation is central to autonomous driving and 3D scene understanding. While voxel- and point-based methods dominate recent research due to their compatibility with deep architectures and ability to capture fine-grained…

3D open-vocabulary scene understanding aims to recognize arbitrary novel categories beyond the base label space. However, existing works not only fail to fully utilize all the available modal information in the 3D domain but also lack…

Range-View(RV)-based 3D point cloud segmentation is widely adopted due to its compact data form. However, RV-based methods fall short in providing robust segmentation for the occluded points and suffer from distortion of projected RGB…

Recently, open-vocabulary learning has emerged to accomplish segmentation for arbitrary categories of text-based descriptions, which popularizes the segmentation system to more general-purpose application scenarios. However, existing…

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…