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

Semantic labelling and instance segmentation are two tasks that require particularly costly annotations. Starting from weak supervision in the form of bounding box detection annotations, we propose a new approach that does not require…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

Semantic segmentation is crucial in remote sensing, where high-resolution satellite images are segmented into meaningful regions. Recent advancements in deep learning have significantly improved satellite image segmentation. However, most…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

Recently, there has been a panoptic segmentation task combining semantic and instance segmentation, in which the goal is to classify each pixel with the corresponding instance ID. In this work, we propose a solution to tackle the panoptic…

Existing works on semantic segmentation typically consider a small number of labels, ranging from tens to a few hundreds. With a large number of labels, training and evaluation of such task become extremely challenging due to correlation…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Semantic segmentation is a powerful method to facilitate visual scene understanding. Each pixel is assigned a label according to a pre-defined list of object classes and semantic entities. This becomes very useful as a means to summarize…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

We propose PanopticFusion, a novel online volumetric semantic mapping system at the level of stuff and things. In contrast to previous semantic mapping systems, PanopticFusion is able to densely predict class labels of a background region…

Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…

Semantic instance segmentation is the task of simultaneously partitioning an image into distinct segments while associating each pixel with a class label. In commonly used pipelines, segmentation and label assignment are solved separately…

Panoptic segmentation, which is a novel task of unifying instance segmentation and semantic segmentation, has attracted a lot of attention lately. However, most of the previous methods are composed of multiple pathways with each pathway…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Unsupervised online 3D instance segmentation is a fundamental yet challenging task, as it requires maintaining consistent object identities across LiDAR scans without relying on annotated training data. Existing methods, such as UNIT, have…

3D segmentation is a core problem in computer vision and, similarly to many other dense prediction tasks, it requires large amounts of annotated data for adequate training. However, densely labeling 3D point clouds to employ…

Panoptic segmentation is one of the most challenging scene parsing tasks, combining the tasks of semantic segmentation and instance segmentation. While much progress has been made, few works focus on the real-time application of panoptic…

In this technical report, we present two novel datasets for image scene understanding. Both datasets have annotations compatible with panoptic segmentation and additionally they have part-level labels for selected semantic classes. This…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…