相关论文: Identifying Unknown Instances for Autonomous Drivi…

Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Partially-supervised instance segmentation is a task which requests segmenting objects from novel unseen categories via learning on limited seen categories with annotated masks thus eliminating demands of heavy annotation burden. The key to…

For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…

Object detection models perform well at localizing and classifying objects that they are shown during training. However, due to the difficulty and cost associated with creating and annotating detection datasets, trained models detect a…

Occlusions of objects is one of the indispensable problems in Computer vision. While Convolutional Neural Net-works (CNNs) provide various state of the art approaches for regular image classification, they however, prove to be not as…

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object…

We present a method for discovering never-seen-before objects in 3D point clouds obtained from sensors like Microsoft Kinect. We generate supervoxels directly from the point cloud data and use them with a Siamese network, built on a…

Online, real-time, and fine-grained 3D segmentation constitutes a fundamental capability for embodied intelligent agents to perceive and comprehend their operational environments. Recent advancements employ predefined object queries to…

In this paper, we consider a highly general image recognition setting wherein, given a labelled and unlabelled set of images, the task is to categorize all images in the unlabelled set. Here, the unlabelled images may come from labelled…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Edge detection has long been an important problem in the field of computer vision. Previous works have explored category-agnostic or category-aware edge detection. In this paper, we explore edge detection in the context of object instances.…

Instance segmentation of images is an important tool for automated scene understanding. Neural networks are usually trained to optimize their overall performance in terms of accuracy. Meanwhile, in applications such as automated driving, an…

Object instance segmentation is a key challenge for indoor robots navigating cluttered environments with many small objects. Limitations in 3D sensing capabilities often make it difficult to detect every possible object. While deep learning…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…