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Deep-learning techniques have been used widely to alleviate the labour-intensive and time-consuming manual annotation required for pixel-level tissue characterization. Our previous study introduced an efficient single dynamic network -…

3D medical image segmentation often faces heavy resource and time consumption, limiting its scalability and rapid deployment in clinical environments. Existing efficient segmentation models are typically static and manually designed prior…

This paper proposes a novel deep convolutional model, Tri-Points Based Line Segment Detector (TP-LSD), to detect line segments in an image at real-time speed. The previous related methods typically use the two-step strategy, relying on…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

We study the problem of unsupervised 3D semantic segmentation on raw point clouds without needing human labels in training. Existing methods usually formulate this problem into learning per-point local features followed by a simple grouping…

Semantic segmentation is a classic and fundamental computer vision problem dedicated to assigning each pixel with its corresponding class. Some recent methods introduce edge-based information for improving the segmentation performance.…

In this paper, we propose a simple but effective message passing method to improve the boundary quality for the semantic segmentation result. Inspired by the generated sharp edges of superpixel blocks, we employ superpixel to guide the…

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…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…

Poles and building edges are frequently observable objects on urban roads, conveying reliable hints for various computer vision tasks. To repetitively extract them as features and perform association between discrete LiDAR frames for…

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…

Semantic segmentation of point clouds in autonomous driving datasets requires techniques that can process large numbers of points efficiently. Sparse 3D convolutions have become the de-facto tools to construct deep neural networks for this…

3D Gaussian Splatting has emerged as an alternative 3D representation for novel view synthesis, benefiting from its high-quality rendering results and real-time rendering speed. However, the 3D Gaussians learned by 3D-GS have ambiguous…

Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-end pipeline with…

The field of connectomics faces unprecedented "big data" challenges. To reconstruct neuronal connectivity, automated pixel-level segmentation is required for petabytes of streaming electron microscopy data. Existing algorithms provide…

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…

LiDAR semantic segmentation is crucial for autonomous vehicles and mobile robots, requiring high accuracy and real-time processing, especially on resource-constrained embedded systems. Previous state-of-the-art methods often face a…

Online 3D scene perception in real time is essential for robotics, AR/VR, and autonomous systems, particularly in edge computing scenarios where computational resources are limited and privacy is crucial. Recent state-of-the-art methods…

Open-vocabulary 3D instance segmentation is a core capability for robotics and AR/VR, but prior methods trade one bottleneck for another: multi-stage 2D+3D pipelines aggregate foundation-model outputs at hundreds of seconds per scene, while…