Related papers: SPIRAL: Semantic-Aware Progressive LiDAR Scene Gen…

Synthetic datasets are widely used for training urban scene recognition models, but even highly realistic renderings show a noticeable gap to real imagery. This gap is particularly pronounced when adapting to a specific target domain, such…

The adoption of text-to-image diffusion models raises concerns over reliability, drawing scrutiny under the lens of various metrics like calibration, fairness, or compute efficiency. We focus in this work on two issues that arise when…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Robust environment perception for autonomous vehicles is a tremendous challenge, which makes a diverse sensor set with e.g. camera, lidar and radar crucial. In the process of understanding the recorded sensor data, 3D semantic segmentation…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

The increasing demand for AR/VR applications has highlighted the need for high-quality content, such as 360{\deg} live wallpapers. However, generating high-quality 360{\deg} panoramic contents remains a challenging task due to the severe…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Semantic segmentation demands dense pixel-level annotations, which can be prohibitively expensive - especially under extremely constrained labeling budgets. In this paper, we address the problem of low-budget active learning for semantic…

Accurate 3D scene representation and panoptic understanding are essential for applications such as virtual reality, robotics, and autonomous driving. However, challenges persist with existing methods, including precise 2D-to-3D mapping,…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

We introduce a new task, novel view synthesis for LiDAR sensors. While traditional model-based LiDAR simulators with style-transfer neural networks can be applied to render novel views, they fall short of producing accurate and realistic…

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 panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…

Despite its compactness and information integrity, the range view representation of LiDAR data rarely occurs as the first choice for 3D perception tasks. In this work, we further push the envelop of the range-view representation with a…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

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…

We propose SLARM, a feed-forward model that unifies dynamic scene reconstruction, semantic understanding, and real-time streaming inference. SLARM captures complex, non-uniform motion through higher-order motion modeling, trained solely on…