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In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

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…

Ophthalmic image segmentation serves as a critical foundation for ocular disease diagnosis. Although fully convolutional neural networks (CNNs) are commonly employed for segmentation, they are constrained by inductive biases and face…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

LiDAR-generated point clouds are crucial for perceiving outdoor environments. The segmentation of point clouds is also essential for many applications. Previous research has focused on using self-attention and convolution (local attention)…

In this paper we study the task of a single-view image-guided point cloud completion. Existing methods have got promising results by fusing the information of image into point cloud explicitly or implicitly. However, given that the image…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Semantic segmentation of night-time images holds significant importance in computer vision, particularly for applications like night environment perception in autonomous driving systems. However, existing methods tend to parse night-time…

LiDAR-based 3D panoptic segmentation often struggles with the inherent sparsity of data from LiDAR sensors, which makes it challenging to accurately recognize distant or small objects. Recently, a few studies have sought to overcome this…

Environmental perception is an important aspect within the field of autonomous vehicles that provides crucial information about the driving domain, including but not limited to identifying clear driving areas and surrounding obstacles.…

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack…

Collaborative perception integrates multi-agent perspectives to enhance the sensing range and overcome occlusion issues. While existing multimodal approaches leverage complementary sensors to improve performance, they are highly prone to…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

In recent years, with the development of computing resources and LiDAR, point cloud semantic segmentation has attracted many researchers. For the sparsity of point clouds, although there is already a way to deal with sparse convolution,…

This study aims to address the problem of incomplete information in unimodal images for semantic segmentation and object detection tasks. Existing multimodal fusion methods suffer from limited capability in discriminative modeling of…

Deploying depth estimation networks in the real world requires high-level robustness against various adverse conditions to ensure safe and reliable autonomy. For this purpose, many autonomous vehicles employ multi-modal sensor systems,…

Segmenting objects in an environment is a crucial task for autonomous driving and robotics, as it enables a better understanding of the surroundings of each agent. Although camera sensors provide rich visual details, they are vulnerable to…

Recent CLIP-based few-shot semantic segmentation methods introduce class-level textual priors to assist segmentation by typically using a single prompt (e.g., a photo of class). However, these approaches often result in incomplete…

Aggregating features in terms of different convolutional blocks or contextual embeddings has been proven to be an effective way to strengthen feature representations for semantic segmentation. However, most of the current popular network…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…