相关论文: A Benchmark for LiDAR-based Panoptic Segmentation …

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Panoptic segmentation of LiDAR point clouds is fundamental to outdoor scene understanding, with autonomous driving being a primary application. While state-of-the-art approaches typically rely on end-to-end deep learning architectures and…

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present…

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…

This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

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…

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…

As a rising task, panoptic segmentation is faced with challenges in both semantic segmentation and instance segmentation. However, in terms of speed and accuracy, existing LiDAR methods in the field are still limited. In this paper, we…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Understanding the scene in which an autonomous robot operates is critical for its competent functioning. Such scene comprehension necessitates recognizing instances of traffic participants along with general scene semantics which can be…

Densely annotating LiDAR point clouds remains too expensive and time-consuming to keep up with the ever growing volume of data. While current literature focuses on fully-supervised performance, developing efficient methods that take…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Semantic segmentation on LiDAR imaging is increasingly gaining attention, as it can provide useful knowledge for perception systems and potential for autonomous driving. However, collecting and labeling real LiDAR data is an expensive and…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

The importance and demands of visual scene understanding have been steadily increasing along with the active development of autonomous systems. Consequently, there has been a large amount of research dedicated to semantic segmentation and…

Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…

Panoptic segmentation aims to address semantic and instance segmentation simultaneously in a unified framework. However, an efficient solution of panoptic segmentation in applications like autonomous driving is still an open research…

In this paper, we develop rotation-equivariant neural networks for 4D panoptic segmentation. 4D panoptic segmentation is a benchmark task for autonomous driving that requires recognizing semantic classes and object instances on the road…