相关论文: Identifying Unknown Instances for Autonomous Drivi…

Instance segmentation has gained recently huge attention in various computer vision applications. It aims at providing different IDs to different object of the scene, even if they belong to the same class. This is useful in various…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

This paper mainly focuses on environment perception in snowy situations which forms the backbone of the autonomous driving technology. For the purpose, semantic segmentation is employed to classify the objects while the vehicle is driven…

Deep learning has enabled remarkable advances in scene understanding, particularly in semantic segmentation tasks. Yet, current state of the art approaches are limited to a closed set of classes, and fail when facing novel elements, also…

Open-world and anomaly segmentation methods seek to enable autonomous driving systems to detect and segment both known and unknown objects in real-world scenes. However, existing methods do not assign semantically meaningful labels to…

To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…

This work addresses the task of instance-aware semantic segmentation. Our key motivation is to design a simple method with a new modelling-paradigm, which therefore has a different trade-off between advantages and disadvantages compared to…

In real-world scenarios classification models are often required to perform robustly when predicting samples belonging to classes that have not appeared during its training stage. Open Set Recognition addresses this issue by devising models…

This paper presents a novel approach for segmenting moving objects in unconstrained environments using guided convolutional neural networks. This guiding process relies on foreground masks from independent algorithms (i.e. state-of-the-art…

3D object detection has been wildly studied in recent years, especially for robot perception systems. However, existing 3D object detection is under a closed-set condition, meaning that the network can only output boxes of trained classes.…

Despite the great success of the deep features in content-based image retrieval, the visual instance search remains challenging due to the lack of effective instance-level feature representation. Supervised or weakly supervised object…

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 semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Recently, the advancement of deep learning in discriminative feature learning from 3D LiDAR data has led to rapid development in the field of autonomous driving. However, automated processing uneven, unstructured, noisy, and massive 3D…

We introduce uncertainty-aware object instance segmentation (UncOS) and demonstrate its usefulness for embodied interactive segmentation. To deal with uncertainty in robot perception, we propose a method for generating a hypothesis…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Visual object localization is the key step in a series of object detection tasks. In the literature, high localization accuracy is achieved with the mainstream strongly supervised frameworks. However, such methods require object-level…

With the emergence of transformer-based architectures and large language models (LLMs), the accuracy of road scene perception has substantially advanced. Nonetheless, current road scene segmentation approaches are predominantly trained on…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…