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

As 3D perception problems grow in popularity and the need for large-scale labeled datasets for LiDAR semantic segmentation increase, new methods arise that aim to reduce the necessity for dense annotations by employing weakly-supervised…

Classic computer vision algorithms, instance segmentation, and semantic segmentation can not provide a holistic understanding of the surroundings for the visually impaired. In this paper, we utilize panoptic segmentation to assist the…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

The increasing relevance of panoptic segmentation is tied to the advancements in autonomous driving and AR/VR applications. However, the deployment of such models has been limited due to the expensive nature of dense data annotation, giving…

Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding…

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…

Amodal panoptic segmentation aims to connect the perception of the world to its cognitive understanding. It entails simultaneously predicting the semantic labels of visible scene regions and the entire shape of traffic participant…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…

To train a well performing neural network for semantic segmentation, it is crucial to have a large dataset with available ground truth for the network to generalize on unseen data. In this paper we present novel point cloud augmentation…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

In this work we address the task of observing the performance of a semantic segmentation deep neural network (DNN) during online operation, i.e., during inference, which is of high importance in safety-critical applications such as…

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Robust and accurate pose estimation in unknown environments is an essential part of robotic applications. We focus on LiDAR-based point-to-point ICP combined with effective semantic information. This paper proposes a novel semantic…

For the last few decades, several major subfields of artificial intelligence including computer vision, graphics, and robotics have progressed largely independently from each other. Recently, however, the community has realized that…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…

A thorough and holistic scene understanding is crucial for autonomous vehicles, where LiDAR semantic segmentation plays an indispensable role. However, most existing methods focus on the network design while neglecting the inherent…