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The increase of web-scale weakly labelled image-text pairs have greatly facilitated the development of large-scale vision-language models (e.g., CLIP), which have shown impressive generalization performance over a series of downstream…

State-of-the-art 3D semantic segmentation models are trained on off-the-shelf public benchmarks, but they will inevitably face the challenge of recognition accuracy drop when these well-trained models are deployed to a new domain. In this…

Semantic segmentation networks trained under full supervision for one type of lidar fail to generalize to unseen lidars without intervention. To reduce the performance gap under domain shifts, a recent trend is to leverage vision foundation…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Reliable transmission of 3D point clouds over wireless channels is challenging due to time-varying signal-to-noise ratio (SNR) and limited bandwidth. This paper introduces sensitivity-aware filtering and transmission (SAFT), a learned…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Affordable 3D scanners often produce sparse and non-uniform point clouds that negatively impact downstream applications in robotic systems. While existing point cloud upsampling architectures have demonstrated promising results on standard…

Automated augmentation is an emerging and effective technique to search for data augmentation policies to improve generalizability of deep neural network training. Most existing work focuses on constructing a unified policy applicable to…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Accurate 3D object detection is critical for autonomous driving, necessitating reliable, cost-effective sensors capable of operating in adverse weather conditions. Camera and millimeter-wave radar fusion has emerged as a promising solution;…

Reliable point cloud data is essential for perception tasks \textit{e.g.} in robotics and autonomous driving applications. Adverse weather causes a specific type of noise to light detection and ranging (LiDAR) sensor data, which degrades…

Efficient transfer learning methods for large-scale vision-language models ($e.g.$, CLIP) enable strong few-shot transfer, yet existing adaptation methods follow a fixed fine-tuning paradigm that implicitly assumes a uniform importance of…

LiDAR point-cloud segmentation is an important problem for many applications. For large-scale point cloud segmentation, the \textit{de facto} method is to project a 3D point cloud to get a 2D LiDAR image and use convolutions to process it.…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Building change detection is essential for monitoring urbanization, disaster assessment, urban planning and frequently updating the maps. 3D structure information from airborne light detection and ranging (LiDAR) is very effective for…

Multimodal 3D vision-language models show strong generalization across diverse 3D tasks, but their performance still degrades notably under domain shifts. This has motivated recent studies on test-time adaptation (TTA), which enables models…

In this paper, we propose a similarity-aware fusion network (SAFNet) to adaptively fuse 2D images and 3D point clouds for 3D semantic segmentation. Existing fusion-based methods achieve remarkable performances by integrating information…