Related papers: Faster Training, Fewer Labels: Self-Supervised Pre…

Birds' Eye View (BEV) semantic segmentation is an indispensable perception task in end-to-end autonomous driving systems. Unsupervised and semi-supervised learning for BEV tasks, as pivotal for real-world applications, underperform due to…

One paradigm for learning from few labeled examples while making best use of a large amount of unlabeled data is unsupervised pretraining followed by supervised fine-tuning. Although this paradigm uses unlabeled data in a task-agnostic way,…

Generating annotations for bird's-eye-view (BEV) segmentation presents significant challenges due to the scenes' complexity and the high manual annotation cost. In this work, we address these challenges by leveraging the abundance of…

Semantic segmentation is an effective way to perform scene understanding. Recently, segmentation in 3D Bird's Eye View (BEV) space has become popular as its directly used by drive policy. However, there is limited work on BEV segmentation…

Bird's-Eye-View (BEV) maps have emerged as one of the most powerful representations for scene understanding due to their ability to provide rich spatial context while being easy to interpret and process. Such maps have found use in many…

We are considering in this paper the task of label-efficient fine-tuning of segmentation models: We assume that a large labeled dataset is available and allows to train an accurate segmentation model in one domain, and that we have to adapt…

Given the difficulty of manually annotating motion in video, the current best motion estimation methods are trained with synthetic data, and therefore struggle somewhat due to a train/test gap. Self-supervised methods hold the promise of…

Constructing large-scale labeled datasets for multi-modal perception model training in autonomous driving presents significant challenges. This has motivated the development of self-supervised pretraining strategies. However, existing…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…

Learning semantic segmentation models under image-level supervision is far more challenging than under fully supervised setting. Without knowing the exact pixel-label correspondence, most weakly-supervised methods rely on external models to…

Semantic segmentation labels are expensive and time consuming to acquire. Hence, pretraining is commonly used to improve the label-efficiency of segmentation models. Typically, the encoder of a segmentation model is pretrained as a…

Self-training has shown great potential in semi-supervised learning. Its core idea is to use the model learned on labeled data to generate pseudo-labels for unlabeled samples, and in turn teach itself. To obtain valid supervision, active…

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

Bird's-Eye-View (BEV) semantic segmentation provides comprehensive environmental perception for autonomous driving but suffers multi-modal misalignment and sensor noise. We propose RESAR-BEV, a progressive refinement framework that advances…

Learning the dense bird's eye view (BEV) motion flow in a self-supervised manner is an emerging research for robotics and autonomous driving. Current self-supervised methods mainly rely on point correspondences between point clouds, which…

Supervised learning in large discriminative models is a mainstay for modern computer vision. Such an approach necessitates investing in large-scale human-annotated datasets for achieving state-of-the-art results. In turn, the efficacy of…

Autonomous vehicles (AV) require that neural networks used for perception be robust to different viewpoints if they are to be deployed across many types of vehicles without the repeated cost of data collection and labeling for each. AV…

In fine-grained road scene understanding, semantic segmentation plays a crucial role in enabling vehicles to perceive and comprehend their surroundings. By assigning a specific class label to each pixel in an image, it allows for precise…

Compared to supervised deep learning, self-supervision provides remote sensing a tool to reduce the amount of exact, human-crafted geospatial annotations. While image-level information for unsupervised pretraining efficiently works for…