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

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Depth completion plays a vital role in 3D perception systems, especially in scenarios where sparse depth data must be densified for tasks such as autonomous driving, robotics, and augmented reality. While many existing approaches rely on…

Panoptic Segmentation aims to provide an understanding of background (stuff) and instances of objects (things) at a pixel level. It combines the separate tasks of semantic segmentation (pixel level classification) and instance segmentation…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…

Advancements in 3D instance segmentation have traditionally been tethered to the availability of annotated datasets, limiting their application to a narrow spectrum of object categories. Recent efforts have sought to harness vision-language…

Semantic 3D building models are widely available and used in numerous applications. Such 3D building models display rich semantics but no fa\c{c}ade openings, chiefly owing to their aerial acquisition techniques. Hence, refining models'…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Existing methods for instance segmentation in videos typically involve multi-stage pipelines that follow the tracking-by-detection paradigm and model a video clip as a sequence of images. Multiple networks are used to detect objects in…

The Bird's-eye View (BeV) representation is widely used for 3D perception from multi-view camera images. It allows to merge features from different cameras into a common space, providing a unified representation of the 3D scene. The key…

3D segmentation is a core problem in computer vision and, similarly to many other dense prediction tasks, it requires large amounts of annotated data for adequate training. However, densely labeling 3D point clouds to employ…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Despite significant progress in 3D point cloud segmentation, existing methods primarily address specific tasks and depend on explicit instructions to identify targets, lacking the capability to infer and understand implicit user intentions…

We introduce a method for instance proposal generation for 3D point clouds. Existing techniques typically directly regress proposals in a single feed-forward step, leading to inaccurate estimation. We show that this serves as a critical…

Current advances in deep learning is leading to human-level accuracy in computer vision tasks such as object classification, localization, semantic segmentation, and instance segmentation. In this paper, we describe a new deep convolutional…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Humans excel at forming mental maps of their surroundings, equipping them to understand object relationships and navigate based on language queries. Our previous work, SI Maps (Nanwani L, Agarwal A, Jain K, et al. Instance-level semantic…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…