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3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

This dissertation addresses visual scene understanding and enhances segmentation performance and generalization, training efficiency of networks, and holistic understanding. First, we investigate semantic segmentation in the context of…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…

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,…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

In recent years, 2D Vision-Language Models (VLMs) have made significant strides in image-text understanding tasks. However, their performance in 3D spatial comprehension, which is critical for embodied intelligence, remains limited. Recent…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Open-vocabulary 3D scene understanding is indispensable for embodied agents. Recent works leverage pretrained vision-language models (VLMs) for object segmentation and project them to point clouds to build 3D maps. Despite progress, a point…

3D point cloud semantic and instance segmentation is crucial and fundamental for 3D scene understanding. Due to the complex structure, point sets are distributed off balance and diversely, which appears as both category imbalance and…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

While point-based neural architectures have demonstrated their efficacy, the time-consuming sampler currently prevents them from performing real-time reasoning on scene-level point clouds. Existing methods attempt to overcome this issue by…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…

Embedding a language field in a 3D representation enables richer semantic understanding of spatial environments by linking geometry with descriptive meaning. This allows for a more intuitive human-computer interaction, enabling querying or…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

We rethink the role of positional encoding in 3D representation learning and fine-tuning. We argue that using positional encoding in point Transformer-based methods serves to aggregate multi-scale features of point clouds. Additionally, we…