Related papers: SGIFormer: Semantic-guided and Geometric-enhanced …

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

This paper introduces a new problem in 3D point cloud: few-shot instance segmentation. Given a few annotated point clouds exemplified a target class, our goal is to segment all instances of this target class in a query point cloud. This…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

4D millimeter-wave radar has emerged as a promising sensing modality for autonomous driving due to its robustness and affordability. However, its sparse and weak geometric cues make reliable instance activation difficult, limiting the…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Accurate 3D instance segmentation is crucial for high-quality scene understanding in the 3D vision domain. However, 3D instance segmentation based on 2D-to-3D lifting approaches struggle to produce precise instance-level segmentation, due…

Instance segmentation in 3D scenes is fundamental in many applications of scene understanding. It is yet challenging due to the compound factors of data irregularity and uncertainty in the numbers of instances. State-of-the-art methods…

Interactive point cloud segmentation has become a pivotal task for understanding 3D scenes, enabling users to guide segmentation models with simple interactions such as clicks, therefore significantly reducing the effort required to tailor…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

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…

Due to the high similarity between camouflaged instances and the background, the recently proposed camouflaged instance segmentation (CIS) faces challenges in accurate localization and instance segmentation. To this end, inspired by…

Semantic, instance, and panoptic segmentation of 3D point clouds have been addressed using task-specific models of distinct design. Thereby, the similarity of all segmentation tasks and the implicit relationship between them have not been…

3D instance segmentation plays a crucial role in comprehending 3D scenes. Despite recent advancements in this field, existing approaches exhibit certain limitations. These methods often rely on fixed instance positions obtained from sampled…

3D instance segmentation methods typically rely on high-quality point clouds or posed RGB-D scans, requiring complex multi-stage processing pipelines, and are highly sensitive to reconstruction noise. While recent feed-forward transformers…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

In this work, we present SeqFormer for video instance segmentation. SeqFormer follows the principle of vision transformer that models instance relationships among video frames. Nevertheless, we observe that a stand-alone instance query…

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…