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Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Local features and contextual dependencies are crucial for 3D point cloud analysis. Many works have been devoted to designing better local convolutional kernels that exploit the contextual dependencies. However, current point convolutions…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

In recent years, attention mechanisms have significantly enhanced the performance of object detection by focusing on key feature information. However, prevalent methods still encounter difficulties in effectively balancing local and global…

Deep learning-based medical image segmentation technology aims at automatic recognizing and annotating objects on the medical image. Non-local attention and feature learning by multi-scale methods are widely used to model network, which…

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,…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

3D object detection from LiDAR point cloud is a challenging problem in 3D scene understanding and has many practical applications. In this paper, we extend our preliminary work PointRCNN to a novel and strong point-cloud-based 3D object…

Point clouds are naturally sparse, while image pixels are dense. The inconsistency limits feature fusion from both modalities for point-wise scene flow estimation. Previous methods rarely predict scene flow from the entire point clouds of…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…

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…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…