相关论文: Identifying Unknown Instances for Autonomous Drivi…

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…

Existing 3D instance segmentation methods typically assume that all semantic classes to be segmented would be available during training and only seen categories are segmented at inference. We argue that such a closed-world assumption is…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

This paper addresses the semantic instance segmentation task in the open-set conditions, where input images can contain known and unknown object classes. The training process of existing semantic instance segmentation methods requires…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…

Semantic segmentation is a crucial component for perception in automated driving. Deep neural networks (DNNs) are commonly used for this task and they are usually trained on a closed set of object classes appearing in a closed operational…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

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…

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

Point cloud learning is receiving increasing attention. However, most existing point cloud models lack the practical ability to deal with the unavoidable presence of unknown objects. This paper primarily discusses point cloud learning in…

Video instance segmentation, also known as multi-object tracking and segmentation, is an emerging computer vision research area introduced in 2019, aiming at detecting, segmenting, and tracking instances in videos simultaneously. By…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Segmenting object parts such as cup handles and animal bodies is important in many real-world applications but requires more annotation effort. The largest dataset nowadays contains merely two hundred object categories, implying the…

Inspired by recent advances of deep learning in instance segmentation and object tracking, we introduce video object segmentation problem as a concept of guided instance segmentation. Our model proceeds on a per-frame basis, guided by the…

An understanding and classification of driving scenarios are important for testing and development of autonomous driving functionalities. Machine learning models are useful for scenario classification but most of them assume that data…

Traditional Scene Understanding problems such as Object Detection and Semantic Segmentation have made breakthroughs in recent years due to the adoption of deep learning. However, the former task is not able to localise objects at a pixel…

We present a robotic system for picking a target from a pile of objects that is capable of finding and grasping the target object by removing obstacles in the appropriate order. The fundamental idea is to segment instances with both visible…

Object detection and semantic segmentation are two main themes in object retrieval from high-resolution remote sensing images, which have recently achieved remarkable performance by surfing the wave of deep learning and, more notably,…