相关论文: ASIST: Automatic Semantically Invariant Scene Tran…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

We introduce a new deep learning method for point cloud comparison. Our approach, named Deep Point Cloud Distance (DPDist), measures the distance between the points in one cloud and the estimated surface from which the other point cloud is…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

Representing the 3D environment with instance-aware semantic and geometric information is crucial for interaction-aware robots in dynamic environments. Nevertheless, creating such a representation poses challenges due to sensor noise,…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

Staining reveals the micro structure of the aspirate while creating histopathology slides. Stain variation, defined as a chromatic difference between the source and the target, is caused by varying characteristics during staining, resulting…

Augmented-reality (AR) glasses that will have access to onboard sensors and an ability to display relevant information to the user present an opportunity to provide user assistance in quotidian tasks. Many such tasks can be characterized as…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

The performance of image recognition like human pose detection, trained with simulated images would usually get worse due to the divergence between real and simulated data. To make the distribution of a simulated image close to that of real…

Bird's eye view (BEV) representation has emerged as a dominant solution for describing 3D space in autonomous driving scenarios. However, objects in the BEV representation typically exhibit small sizes, and the associated point cloud…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

The primary goal of this paper is to localize objects in a group of semantically similar images jointly, also known as the object co-localization problem. Most related existing works are essentially weakly-supervised, relying prominently on…

Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead to a major drop, preventing the use of semantic mapping in…

Focusing on only semantic instances that only salient in a scene gains more benefits for robot navigation and self-driving cars than looking at all objects in the whole scene. This paper pushes the envelope on salient regions in a video to…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

With the development of range sensors such as LIDAR and time-of-flight cameras, 3D point cloud scans have become ubiquitous in computer vision applications, the most prominent ones being gesture recognition and autonomous driving.…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…