Related papers: Lidar Panoptic Segmentation in an Open World
Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…
Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…
A more realistic object detection paradigm, Open-World Object Detection, has arisen increasing research interests in the community recently. A qualified open-world object detector can not only identify objects of known categories, but also…
This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…
In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…
Open-Vocabulary Semantic Segmentation (OVSS) has advanced with recent vision-language models (VLMs), enabling segmentation beyond predefined categories through various learning schemes. Notably, training-free methods offer scalable, easily…
3D semantic segmentation (3DSS) is an essential process in the creation of a safe autonomous driving system. However, deep learning models for 3D semantic segmentation often suffer from the class imbalance problem and out-of-distribution…
Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…
What sorts of structure might enable a learner to discover classes from unlabeled data? Traditional approaches rely on feature-space similarity and heroic assumptions on the data. In this paper, we introduce unsupervised learning under…
We propose a simple yet effective proposal-free architecture for lidar panoptic segmentation. We jointly optimize both semantic segmentation and class-agnostic instance classification in a single network using a pillar-based bird's-eye view…
Panoptic Part Segmentation (PPS) aims to unify panoptic segmentation and part segmentation into one task. Previous work mainly utilizes separated approaches to handle thing, stuff, and part predictions individually without performing any…
In autonomous driving, 3D LiDAR plays a crucial role in understanding the vehicle's surroundings. However, the newly emerged, unannotated objects presents few-shot learning problem for semantic segmentation. This paper addresses the…
In this paper, we introduce an open-vocabulary panoptic segmentation model that effectively unifies the strengths of the Segment Anything Model (SAM) with the vision-language CLIP model in an end-to-end framework. While SAM excels in…
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…
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,…
Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…
Segmenting unknown or anomalous object instances is a critical task in autonomous driving applications, and it is approached traditionally as a per-pixel classification problem. However, reasoning individually about each pixel without…
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…
Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…
Image segmentation for video analysis plays an essential role in different research fields such as smart city, healthcare, computer vision and geoscience, and remote sensing applications. In this regard, a significant effort has been…