相关论文: Incorporating Human Domain Knowledge in 3D LiDAR-b…

Sequences and time-series often arise in robot tasks, e.g., in activity recognition and imitation learning. In recent years, deep neural networks (DNNs) have emerged as an effective data-driven methodology for processing sequences given…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

Most of the current state-of-the-art methods for tumor segmentation are based on machine learning models trained on manually segmented images. This type of training data is particularly costly, as manual delineation of tumors is not only…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

We describe a method for selecting relevant new training data for the LSTM-based domain selection component of our personal assistant system. Adding more annotated training data for any ML system typically improves accuracy, but only if it…

In this paper we address the challenging problem of domain adaptation in LiDAR semantic segmentation. We consider the setting where we have a fully-labeled data set from source domain and a target domain with a few labeled and many…

Data annotation is crucial for developing machine learning solutions. The current paradigm is to hire ordinary human annotators to annotate data instructed by expert-crafted guidelines. As this paradigm is laborious, tedious, and costly, we…

We present a survey of ways in which existing scientific knowledge are included when constructing models with neural networks. The inclusion of domain-knowledge is of special interest not just to constructing scientific assistants, but…

This study deals with semantic segmentation of high-resolution (aerial) images where a semantic class label is assigned to each pixel via supervised classification as a basis for automatic map generation. Recently, deep convolutional neural…

In this work, we aim to realize a method for embedding human knowledge into deep neural networks. While the conventional method to embed human knowledge has been applied for non-deep machine learning, it is challenging to apply it for deep…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

Domain generalization aims to find ways for deep learning models to maintain their performance despite significant domain shifts between training and inference datasets. This is particularly important for models that need to be robust or…

High annotation costs are a major bottleneck for the training of semantic segmentation systems. Therefore, methods working with less annotation effort are of special interest. This paper studies the problem of semi-supervised semantic…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Transfer learning is a proven technique in 2D computer vision to leverage the large amount of data available and achieve high performance with datasets limited in size due to the cost of acquisition or annotation. In 3D, annotation is known…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Semantic segmentation has been widely investigated in the community, in which the state of the art techniques are based on supervised models. Those models have reported unprecedented performance at the cost of requiring a large set of high…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Accurate perception is critical for vehicle safety, with LiDAR as a key enabler in autonomous driving. To ensure robust performance across environments, sensor types, and weather conditions without costly re-annotation, domain…