相关论文: SemanticPOSS: A Point Cloud Dataset with Large Qua…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

The ability to deploy robots that can operate safely in diverse environments is crucial for developing embodied intelligent agents. As a community, we have made tremendous progress in within-domain LiDAR semantic segmentation. However, do…

Environmental perception is an important aspect within the field of autonomous vehicles that provides crucial information about the driving domain, including but not limited to identifying clear driving areas and surrounding obstacles.…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Semantic scene segmentation has primarily been addressed by forming representations of single images both with supervised and unsupervised methods. The problem of semantic segmentation in dynamic scenes has begun to recently receive…

We develop a novel learning scheme named Self-Prediction for 3D instance and semantic segmentation of point clouds. Distinct from most existing methods that focus on designing convolutional operators, our method designs a new learning…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…

With the recent availability and affordability of commercial depth sensors and 3D scanners, an increasing number of 3D (i.e., RGBD, point cloud) datasets have been publicized to facilitate research in 3D computer vision. However, existing…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Autonomous driving needs good roads, but 85% of Brazilian roads have damages that deep learning models may not regard as most semantic segmentation datasets for autonomous driving are high-resolution images of well-maintained urban roads. A…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

Semantic labeling of 3D point clouds is important for the derivation of 3D models from real world scenarios in several economic fields such as building industry, facility management, town planning or heritage conservation. In contrast to…

Semantic segmentation of 3D point cloud scenes is a crucial task for various applications. In real-world scenarios, training segmentation models often faces three concurrent forms of data insufficiency: scarcity of training scenes, scarcity…

Point cloud semantic segmentation has attracted attentions due to its robustness to light condition. This makes it an ideal semantic solution for autonomous driving. However, considering the large computation burden and bandwidth demanding…

3D semantic segmentation plays a critical role in urban modelling, enabling detailed understanding and mapping of city environments. In this paper, we introduce Turin3D: a new aerial LiDAR dataset for point cloud semantic segmentation…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

In recent years there has been significant progress in the field of 3D learning on classification, detection and segmentation problems. The vast majority of the existing studies focus on canonical closed-set conditions, neglecting the…