相关论文: 3D-MiniNet: Learning a 2D Representation from Poin…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

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…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

With the introduction of fully convolutional neural networks, deep learning has raised the benchmark for medical image segmentation on both speed and accuracy, and different networks have been proposed for 2D and 3D segmentation with…

We present a simple and efficient method based on deep learning to automatically decompose sketched objects into semantically valid parts. We train a deep neural network to transfer existing segmentations and labelings from 3D models to…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…

LiDAR semantic segmentation is crucial for autonomous vehicles and mobile robots, requiring high accuracy and real-time processing, especially on resource-constrained embedded systems. Previous state-of-the-art methods often face a…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Semantic segmentation necessitates approaches that learn high-level characteristics while dealing with enormous amounts of data. Convolutional neural networks (CNNs) can learn unique and adaptive features to achieve this aim. However, due…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Semantic segmentation of 3D point cloud data often comes with high annotation costs. Active learning automates the process of selecting which data to annotate, reducing the total amount of annotation needed to achieve satisfactory…

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…

Annotating 3D LiDAR point clouds for perception tasks is fundamental for many applications e.g., autonomous driving, yet it still remains notoriously labor-intensive. Pretraining-finetuning approach can alleviate the labeling burden by…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…