相关论文: 3D-BEVIS: Bird's-Eye-View Instance Segmentation

Instance segmentation on point clouds is a fundamental task in 3D scene perception. In this work, we propose a concise clustering-based framework named HAIS, which makes full use of spatial relation of points and point sets. Considering…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…

Recent works in object detection in LiDAR point clouds mostly focus on predicting bounding boxes around objects. This prediction is commonly achieved using anchor-based or anchor-free detectors that predict bounding boxes, requiring…

Tracking vehicles in LIDAR point clouds is a challenging task due to the sparsity of the data and the dense search space. The lack of structure in point clouds impedes the use of convolution filters usually employed in 2D object tracking.…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Instance segmentation of point clouds is a crucial task in 3D field with numerous applications that involve localizing and segmenting objects in a scene. However, achieving satisfactory results requires a large number of manual annotations,…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Recent vision-only perception models for autonomous driving achieved promising results by encoding multi-view image features into Bird's-Eye-View (BEV) space. A critical step and the main bottleneck of these methods is transforming image…

Modeling temporal visual context across frames is critical for video instance segmentation (VIS) and other video understanding tasks. In this paper, we propose a fast online VIS model named CrossVIS. For temporal information modeling in…

Point cloud segmentation is fundamental in understanding 3D environments. However, current 3D point cloud segmentation methods usually perform poorly on scene boundaries, which degenerates the overall segmentation performance. In this…

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

Compared with the visual grounding on 2D images, the natural-language-guided 3D object localization on point clouds is more challenging. In this paper, we propose a new model, named InstanceRefer, to achieve a superior 3D visual grounding…

In this work, we propose an end-to-end framework to learn local multi-view descriptors for 3D point clouds. To adopt a similar multi-view representation, existing studies use hand-crafted viewpoints for rendering in a preprocessing stage,…

Semantic segmentation and object detection research have recently achieved rapid progress. However, the former task has no notion of different instances of the same object, and the latter operates at a coarse, bounding-box level. We propose…

Camera-based 3D object detection in Bird's Eye View (BEV) is one of the most important perception tasks in autonomous driving. Earlier methods rely on dense BEV features, which are costly to construct. More recent works explore sparse…

Autonomous navigation requires scene understanding of the action-space to move or anticipate events. For planner agents moving on the ground plane, such as autonomous vehicles, this translates to scene understanding in the bird's-eye view…