相关论文: LiDARNet: A Boundary-Aware Domain Adaptation Model…

Domain adaptation is an important task to enable learning when labels are scarce. While most works focus only on the image modality, there are many important multi-modal datasets. In order to leverage multi-modality for domain adaptation,…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Semantic segmentation networks trained under full supervision for one type of lidar fail to generalize to unseen lidars without intervention. To reduce the performance gap under domain shifts, a recent trend is to leverage vision foundation…

Panoptic segmentation presents a new challenge in exploiting the merits of both detection and segmentation, with the aim of unifying instance segmentation and semantic segmentation in a single framework. However, an efficient solution for…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

LiDAR semantic segmentation models are typically trained from random initialization as universal pre-training is hindered by the lack of large, diverse datasets. Moreover, most point cloud segmentation architectures incorporate custom…

During the last half decade, convolutional neural networks (CNNs) have triumphed over semantic segmentation, which is one of the core tasks in many applications such as autonomous driving and augmented reality. However, to train CNNs…

Although LiDAR semantic segmentation advances rapidly, state-of-the-art methods often incorporate specifically designed inductive bias derived from benchmarks originating from mechanical spinning LiDAR. This can limit model generalizability…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

An increasing amount of applications rely on data-driven models that are deployed for perception tasks across a sequence of scenes. Due to the mismatch between training and deployment data, adapting the model on the new scenes is often…

Recent advances in unsupervised domain adaptation have shown the effectiveness of adversarial training to adapt features across domains, endowing neural networks with the capability of being tested on a target domain without requiring any…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

A unified and versatile LiDAR segmentation model with strong robustness and generalizability is desirable for safe autonomous driving perception. This work presents M3Net, a one-of-a-kind framework for fulfilling multi-task, multi-dataset,…

Recently, semantic parsing has attracted much attention in the community. Although many neural modeling efforts have greatly improved the performance, it still suffers from the data scarcity issue. In this paper, we propose a novel semantic…

Most of the recent Deep Semantic Segmentation algorithms suffer from large generalization errors, even when powerful hierarchical representation models based on convolutional neural networks have been employed. This could be attributed to…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

3D semantic segmentation is a critical task in many real-world applications, such as autonomous driving, robotics, and mixed reality. However, the task is extremely challenging due to ambiguities coming from the unstructured, sparse, and…