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Accurate perception is critical for vehicle safety, with LiDAR as a key enabler in autonomous driving. To ensure robust performance across environments, sensor types, and weather conditions without costly re-annotation, domain…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

Multi-label recognition with partial labels (MLR-PL), in which only some labels are known while others are unknown for each image, is a practical task in computer vision, since collecting large-scale and complete multi-label datasets is…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…

Deep convolutional semantic segmentation (DCSS) learning doesn't converge to an optimal local minimum with random parameters initializations; a pre-trained model on the same domain becomes necessary to achieve convergence.In this work, we…

Referring 3D Segmentation is a visual-language task that segments all points of the specified object from a 3D point cloud described by a sentence of query. Previous works perform a two-stage paradigm, first conducting language-agnostic…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…

As the exorbitant expense of labeling autopilot datasets and the growing trend of utilizing unlabeled data, semi-supervised segmentation on point clouds becomes increasingly imperative. Intuitively, finding out more ``unspoken words''…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

In this work, we introduce Panoptic-DeepLab, a simple, strong, and fast system for panoptic segmentation, aiming to establish a solid baseline for bottom-up methods that can achieve comparable performance of two-stage methods while yielding…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from…