相关论文: Learning-Based Human Segmentation and Velocity Est…

Shape and pose estimation is a critical perception problem for a self-driving car to fully understand its surrounding environment. One fundamental challenge in solving this problem is the incomplete sensor signal (e.g., LiDAR scans),…

Parsing human body into semantic regions is crucial to human-centric analysis. In this paper, we propose a segment-based parsing pipeline that explores human pose information, i.e. the joint location of a human model, which improves the…

We propose a fully automatic annotation scheme that takes a raw 3D point cloud with a set of fitted CAD models as input and outputs convincing point-wise labels that can be used as cheap training data for point cloud segmentation. Compared…

In this paper we describe an approach to semi-automatically create a labelled dataset for semantic segmentation of urban street-level point clouds. We use data fusion techniques using public data sources such as elevation data and…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Deep learning is the essential building block of state-of-the-art person detectors in 2D range data. However, only a few annotated datasets are available for training and testing these deep networks, potentially limiting their performance…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Data pipelines are an essential component for end-to-end solutions that take machine learning algorithms to production. Engineering data pipelines for video-sequences poses several challenges including isolation of key-frames from video…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

With the development of 3D and 2D data acquisition techniques, it has become easy to obtain point clouds and images of scenes simultaneously, which further facilitates dual-modal semantic segmentation. Most existing methods for…

Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

LiDAR scene flow estimation is essential for autonomous driving, as it provides 3D motion for each point. Self-supervised approaches use static-dynamic classification to mitigate the imbalance between static and dynamic points, deriving…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

State-of-the-art image segmentation algorithms generally consist of at least two successive and distinct computations: a boundary detection process that uses local image information to classify image locations as boundaries between objects,…