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Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…
A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…
Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…
Despite the remarkable performance of supervised medical image segmentation models, relying on a large amount of labeled data is impractical in real-world situations. Semi-supervised learning approaches aim to alleviate this challenge using…
Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…
We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…
Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…
Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…
Semi-supervised learning is a challenging problem which aims to construct a model by learning from a limited number of labeled examples. Numerous methods have been proposed to tackle this problem, with most focusing on utilizing the…
Competitive point cloud semantic segmentation results usually rely on a large amount of labeled data. However, data annotation is a time-consuming and labor-intensive task, particularly for three-dimensional point cloud data. Thus,…
Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…
Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…
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…
Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…
Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…
We propose the SAL (Segment Anything in Lidar) method consisting of a text-promptable zero-shot model for segmenting and classifying any object in Lidar, and a pseudo-labeling engine that facilitates model training without manual…
Deep learning models have achieved state-of-the-art performance in many computer vision tasks. However, in real-world scenarios, novel classes that were unseen during training often emerge, requiring models to acquire new knowledge…
Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…
LiDAR Semantic Segmentation is a fundamental task in autonomous driving perception consisting of associating each LiDAR point to a semantic label. Fully-supervised models have widely tackled this task, but they require labels for each scan,…
Semi-supervised learning for LiDAR semantic segmentation often suffers from error propagation and confirmation bias caused by noisy pseudo-labels. To tackle this chronic issue, we introduce RePL, a novel framework that enhances pseudo-label…