相关论文: JSNet: Joint Instance and Semantic Segmentation of…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Instance segmentation and panoptic segmentation is being paid more and more attention in recent years. In comparison with bounding box based object detection and semantic segmentation, instance segmentation can provide more analytical…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

Data association is important in the point cloud registration. In this work, we propose to solve the partial-to-partial registration from a new perspective, by introducing multi-level feature interactions between the source and the…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

Semantic Scene Completion aims at reconstructing a complete 3D scene with precise voxel-wise semantics from a single-view depth or RGBD image. It is a crucial but challenging problem for indoor scene understanding. In this work, we present…

In this paper, we propose a cascaded non-local neural network for point cloud segmentation. The proposed network aims to build the long-range dependencies of point clouds for the accurate segmentation. Specifically, we develop a novel…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

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…

This paper introduces a novel segmentation framework that integrates a classifier network with a reverse HRNet architecture for efficient image segmentation. Our approach utilizes a ResNet-50 backbone, pretrained in a semi-supervised…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

We present a single network method for panoptic segmentation. This method combines the predictions from a jointly trained semantic and instance segmentation network using heuristics. Joint training is the first step towards an end-to-end…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

In this paper we propose an approach to perform semantic segmentation of 3D point cloud data by importing the geographic information from a 2D GIS layer (OpenStreetMap). The proposed automatic procedure identifies meaningful units such as…

We propose a novel 3D point cloud segmentation framework named SASO, which jointly performs semantic and instance segmentation tasks. For semantic segmentation task, inspired by the inherent correlation among objects in spatial context, we…

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…

We present a deep learning method that propagates point-wise feature representations across shapes within a collection for the purpose of 3D shape segmentation. We propose a cross-shape attention mechanism to enable interactions between a…

Recently, 3D understanding research sheds light on extracting features from point cloud directly, which requires effective shape pattern description of point clouds. Inspired by the outstanding 2D shape descriptor SIFT, we design a module…