相关论文: Rethinking Task and Metrics of Instance Segmentati…

In this paper we propose a new framework for point cloud instance segmentation. Our framework has two steps: an embedding step and a clustering step. In the embedding step, our main contribution is to propose a probabilistic embedding space…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

Separating 3D point clouds into individual instances is an important task for 3D vision. It is challenging due to the unknown and varying number of instances in a scene. Existing deep learning based works focus on a two-step pipeline: first…

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…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

3D point cloud panoptic segmentation is the combined task to (i) assign each point to a semantic class and (ii) separate the points in each class into object instances. Recently there has been an increased interest in such comprehensive 3D…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

This paper studies the 3D instance segmentation problem, which has a variety of real-world applications such as robotics and augmented reality. Since the surroundings of 3D objects are of high complexity, the separating of different objects…

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…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

Point cloud panoptic segmentation is a challenging task that seeks a holistic solution for both semantic and instance segmentation to predict groupings of coherent points. Previous approaches treat semantic and instance segmentation as…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…