相关论文: PointIT: A Fast Tracking Framework Based on 3D Ins…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

Most of 3D single object trackers (SOT) in point clouds follow the two-stream multi-stage 3D Siamese or motion tracking paradigms, which process the template and search area point clouds with two parallel branches, built on supervised point…

3D Single Object Tracking (SOT) stands a forefront task of computer vision, proving essential for applications like autonomous driving. Sparse and occluded data in scene point clouds introduce variations in the appearance of tracked…

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…

Point clouds are an efficient data format for 3D data. However, existing 3D segmentation methods for point clouds either do not model local dependencies \cite{pointnet} or require added computations \cite{kd-net,pointnet2}. This work…

Unsupervised online 3D instance segmentation is a fundamental yet challenging task, as it requires maintaining consistent object identities across LiDAR scans without relying on annotated training data. Existing methods, such as UNIT, have…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…

Recent approaches for 3D object detection have made tremendous progresses due to the development of deep learning. However, previous researches are mostly based on individual frames, leading to limited exploitation of information between…

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…

Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

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…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

As a rising task, panoptic segmentation is faced with challenges in both semantic segmentation and instance segmentation. However, in terms of speed and accuracy, existing LiDAR methods in the field are still limited. In this paper, we…

We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with…

We introduce PointGauss, a novel point cloud-guided framework for real-time multi-object segmentation in Gaussian Splatting representations. Unlike existing methods that suffer from prolonged initialization and limited multi-view…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

The deployment of high-accuracy 3D object detection models from point cloud remains a significant challenge due to their substantial computational and memory requirements. To address this, we introduce StripDet, a novel lightweight…