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Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Graph-based convolutional model such as non-local block has shown to be effective for strengthening the context modeling ability in convolutional neural networks (CNNs). However, its pixel-wise computational overhead is prohibitive which…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Semantic segmentation in complex scenes relies not only on object appearance but also on object location and the surrounding environment. Nonetheless, it is difficult to model long-range context in the format of pairwise point correlations…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

In the recent years, the research community has witnessed growing use of 3D point cloud data for the high applicability in various real-world applications. By means of 3D point cloud, this modality enables to consider the actual size and…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

Medical image analysis using deep learning has recently been prevalent, showing great performance for various downstream tasks including medical image segmentation and its sibling, volumetric image segmentation. Particularly, a typical…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

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…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…

Driven by rapid advances in large-scale generative models, synthetic data has emerged as a promising solution for visual understanding. While modern diffusion models achieve remarkable photorealistic image synthesis, their potential in…