相关论文: Boosting LiDAR-based Semantic Labeling by Cross-Mo…

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are…

Contemporary segmentation methods are usually based on deep fully convolutional networks (FCNs). However, the layer-by-layer convolutions with a growing receptive field is not good at capturing long-range contexts such as lane markers in…

Semantic annotations are indispensable to train or evaluate perception models, yet very costly to acquire. This work introduces a fully automated 2D/3D labeling framework that, without any human intervention, can generate labels for RGB-D…

Following improvements in deep neural networks, state-of-the-art networks have been proposed for human recognition using point clouds captured by LiDAR. However, the performance of these networks strongly depends on the training data. An…

To navigate through urban roads, an automated vehicle must be able to perceive and recognize objects in a three-dimensional environment. A high-level contextual understanding of the surroundings is necessary to plan and execute accurate…

With the development of 3D and 2D data acquisition techniques, it has become easy to obtain point clouds and images of scenes simultaneously, which further facilitates dual-modal semantic segmentation. Most existing methods for…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

Annotated 3D scene data is scarce and expensive to acquire, while abundant unlabeled videos are readily available on the internet. In this paper, we demonstrate that carefully designed data engines can leverage web-curated, unlabeled videos…

This study deals with semantic segmentation of high-resolution (aerial) images where a semantic class label is assigned to each pixel via supervised classification as a basis for automatic map generation. Recently, deep convolutional neural…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

While mislabeled or ambiguously-labeled samples in the training set could negatively affect the performance of deep models, diagnosing the dataset and identifying mislabeled samples helps to improve the generalization power. Training…

Addressing performance degradation in 3D LiDAR semantic segmentation due to domain shifts (e.g., sensor type, geographical location) is crucial for autonomous systems, yet manual annotation of target data is prohibitive. This study…

Deep learning methods have achieved promising performance in many areas, but they are still struggling with noisy-labeled images during the training process. Considering that the annotation quality indispensably relies on great expertise,…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Aerial-ground localization is difficult due to large viewpoint and modality gaps between ground-level LiDAR and overhead imagery. We propose TransLocNet, a cross-modal attention framework that fuses LiDAR geometry with aerial semantic…

Annotating the dataset with high-quality labels is crucial for performance of deep network, but in real world scenarios, the labels are often contaminated by noise. To address this, some methods were proposed to automatically split clean…

In autonomous driving, 3D LiDAR plays a crucial role in understanding the vehicle's surroundings. However, the newly emerged, unannotated objects presents few-shot learning problem for semantic segmentation. This paper addresses the…