相关论文: SegMatch: Segment based loop-closure for 3D point …

This paper presents a novel 3D semantic segmentation method for large-scale point cloud data that does not require annotated 3D training data or paired RGB images. The proposed approach projects 3D point clouds onto 2D images using virtual…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

We have introduced SegSplat, a novel framework designed to bridge the gap between rapid, feed-forward 3D reconstruction and rich, open-vocabulary semantic understanding. By constructing a compact semantic memory bank from multi-view 2D…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Loop closure detection (LCD) is an indispensable part of simultaneous localization and mapping systems (SLAM); it enables robots to produce a consistent map by recognizing previously visited places. When robots operate over extended…

Simultaneous Localization and Mapping (SLAM) plays an important role in robot autonomy. Reliability and efficiency are the two most valued features for applying SLAM in robot applications. In this paper, we consider achieving a reliable…

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…

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…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

The continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

3D Gaussian Splatting (3DGS) has gained significant attention for its application in dense Simultaneous Localization and Mapping (SLAM), enabling real-time rendering and high-fidelity mapping. However, existing 3DGS-based SLAM methods often…

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed…

RGB-D scene parsing methods effectively capture both semantic and geometric features of the environment, demonstrating great potential under challenging conditions such as extreme weather and low lighting. However, existing RGB-D scene…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

Interactive segmentation, a computer vision technique where a user provides guidance to help an algorithm segment a feature of interest in an image, has achieved outstanding accuracy and efficient human-computer interaction. However, few…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…

Place recognition is an important component for autonomous vehicles to achieve loop closing or global localization. In this paper, we tackle the problem of place recognition based on sequential 3D LiDAR scans obtained by an onboard LiDAR…