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Semantic segmentation of 3D point cloud scenes is a crucial task for various applications. In real-world scenarios, training segmentation models often faces three concurrent forms of data insufficiency: scarcity of training scenes, scarcity…

Existing methods for large-scale point cloud semantic segmentation require expensive, tedious and error-prone manual point-wise annotations. Intuitively, weakly supervised training is a direct solution to reduce the cost of labeling.…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

Annotating objects with 3D bounding boxes in LiDAR pointclouds is a costly human driven process in an autonomous driving perception system. In this paper, we present a method to semi-automatically annotate real-world pointclouds collected…

Semi- and weakly-supervised learning have recently attracted considerable attention in the object detection literature since they can alleviate the cost of annotation needed to successfully train deep learning models. State-of-art…

Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

A consistent trend throughout the research of oriented object detection has been the pursuit of maintaining comparable performance with fewer and weaker annotations. This is particularly crucial in the remote sensing domain, where the dense…

Weakly supervised segmentation is an important problem in medical image analysis due to the high cost of pixelwise annotation. Prior methods, while often focusing on weak labels of 2D images, exploit few structural cues of volumetric…

Semi-supervised Camouflaged Object Detection (SSCOD) aims to reduce reliance on costly pixel-level annotations by leveraging limited annotated data and abundant unlabeled data. However, existing SSCOD methods based on Teacher-Student…

The success of Convolutional Neural Networks (CNNs) in 3D medical image segmentation relies on massive fully annotated 3D volumes for training that are time-consuming and labor-intensive to acquire. In this paper, we propose to annotate a…

Traditional supervised learning requires ground truth labels for the training data, whose collection can be difficult in many cases. Recently, crowdsourcing has established itself as an efficient labeling solution through resorting to…

Detailed structural and species information on individual tree level is increasingly important to support precision forestry, biodiversity conservation, and provide reference data for biomass and carbon mapping. Point clouds from airborne…

Data augmentation is an important technique to improve data efficiency and save labeling cost for 3D detection in point clouds. Yet, existing augmentation policies have so far been designed to only utilize labeled data, which limits the…

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…

Weakly supervised 3D instance segmentation is essential for 3D scene understanding, especially as the growing scale of data and high annotation costs associated with fully supervised approaches. Existing methods primarily rely on two forms…

Visual simultaneous localization and mapping (SLAM) must remain accurate under extreme viewpoint, scale and illumination variations. The widely adopted ORB-SLAM3 falters in these regimes because it relies on hand-crafted ORB keypoints. We…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Semi-supervised 3D object detection (SS3DOD) aims to reduce costly 3D annotations utilizing unlabeled data. Recent studies adopt pseudo-label-based teacher-student frameworks and demonstrate impressive performance. The main challenge of…