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

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…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However,…

One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Real-time understanding in video is crucial in various AI applications such as autonomous driving. This work presents a fast single-shot segmentation strategy for video scene understanding. The proposed net, called S3-Net, quickly locates…

Semantic segmentation is the task to cluster pixels on an image belonging to the same class. It is widely used in the real-world applications including autonomous driving, medical imaging analysis, industrial inspection, smartphone camera…

Semantic segmentation is a fundamental task in computer vision that involves dense pixel-wise classification for scene understanding. Despite significant progress, achieving high accuracy while maintaining real-time performance remains a…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

Running deep learning models on resource-constrained edge devices has drawn significant attention due to its fast response, privacy preservation, and robust operation regardless of Internet connectivity. While these devices already cope…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…