相关论文: PointSeg: Real-Time Semantic Segmentation Based on…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Point clouds provide intrinsic geometric information and surface context for scene understanding. Existing methods for point cloud segmentation require a large amount of fully labeled data. Using advanced depth sensors, collection of large…

Recent advances in point cloud perception have demonstrated remarkable progress in scene understanding through vision-language alignment leveraging large language models (LLMs). However, existing methods may still encounter challenges in…

Semantic segmentation and semantic edge detection can be seen as two dual problems with close relationships in computer vision. Despite the fast evolution of learning-based 3D semantic segmentation methods, little attention has been drawn…

Interpretation of Airborne Laser Scanning (ALS) point clouds is a critical procedure for producing various geo-information products like 3D city models, digital terrain models and land use maps. In this paper, we present a local and global…

2D images and 3D point clouds are foundational data types for multimedia applications, including real-time video analysis, augmented reality (AR), and 3D scene understanding. Class-incremental semantic segmentation (CSS) requires…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

In this paper, we present a novel neural network using multi scale feature fusion at various scales for accurate and efficient semantic image segmentation. We used ResNet based feature extractor, dilated convolutional layers in downsampling…

Training neural networks for tasks such as 3D point cloud semantic segmentation demands extensive datasets, yet obtaining and annotating real-world point clouds is costly and labor-intensive. This work aims to introduce a novel pipeline for…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

This paper presents the FPGA design of a convolutional neural network (CNN) based road segmentation algorithm for real-time processing of LiDAR data. For autonomous vehicles, it is important to perform road segmentation and obstacle…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…