相关论文: Scene Context Based Semantic Segmentation for 3D L…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

We propose a highly structured neural network architecture for semantic segmentation with an extremely small model size, suitable for low-power embedded and mobile platforms. Specifically, our architecture combines i) a Haar wavelet-based…

This paper presents new designs of graph convolutional neural networks (GCNs) on 3D meshes for 3D object segmentation and classification. We use the faces of the mesh as basic processing units and represent a 3D mesh as a graph where each…

Machine learning (ML) and deep learning (DL) techniques have gained significant attention as reduced order models (ROMs) to computationally expensive structural analysis methods, such as finite element analysis (FEA). Graph neural network…

In this paper, we present a novel framework of 3D scene based beam selection for mmWave communications that relies only on the environmental data and deep learning techniques. Different from other out-of-band side-information aided…

Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

Scene graph generation (SGG) is built on top of detected objects to predict object pairwise visual relations for describing the image content abstraction. Existing works have revealed that if the links between objects are given as prior…

In this paper, we address the task of semantic-guided scene generation. One open challenge in scene generation is the difficulty of the generation of small objects and detailed local texture, which has been widely observed in global…

Recent advances in 3D semantic scene understanding have shown impressive progress in 3D instance segmentation, enabling object-level reasoning about 3D scenes; however, a finer-grained understanding is required to enable interactions with…

3D scene graph prediction is a task that aims to concurrently predict object classes and their relationships within a 3D environment. As these environments are primarily designed by and for humans, incorporating commonsense knowledge…

Understanding the semantic characteristics of the environment is a key enabler for autonomous robot operation. In this paper, we propose a deep convolutional neural network (DCNN) for the semantic segmentation of a LiDAR scan into the…

Current state-of-the-art methods for image segmentation form a dense image representation where the color, shape and texture information are all processed together inside a deep CNN. This however may not be ideal as they contain very…

Identifying objects in an image and their mutual relationships as a scene graph leads to a deep understanding of image content. Despite the recent advancement in deep learning, the detection and labeling of visual object relationships…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Learning on point cloud is eagerly in demand because the point cloud is a common type of geometric data and can aid robots to understand environments robustly. However, the point cloud is sparse, unstructured, and unordered, which cannot be…

State-of-the-art approaches for the semantic labeling of LiDAR point clouds heavily rely on the use of deep Convolutional Neural Networks (CNNs). However, transferring network architectures across different LiDAR sensor types represents a…

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…