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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…
Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…
We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…
As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…
Semantic segmentation on 3D point clouds is an important task for 3D scene understanding. While dense labeling on 3D data is expensive and time-consuming, only a few works address weakly supervised semantic point cloud segmentation methods…
Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…
The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…
Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…
Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…
Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…
Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…
Semantic segmentation of 3D point cloud data often comes with high annotation costs. Active learning automates the process of selecting which data to annotate, reducing the total amount of annotation needed to achieve satisfactory…
Producing densely annotated data is a difficult and tedious task for medical imaging applications. To address this problem, we propose a novel approach to generate supervision for semi-supervised semantic segmentation. We argue that…
Semantic segmentation is crucial in remote sensing, where high-resolution satellite images are segmented into meaningful regions. Recent advancements in deep learning have significantly improved satellite image segmentation. However, most…
The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…
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…
The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…
In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…
Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints…
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…