相关论文: MNEW: Multi-domain Neighborhood Embedding and Weig…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

In this paper, we focus on semantic segmentation method for point clouds of urban scenes. Our fundamental concept revolves around the collaborative utilization of diverse scene representations to benefit from different context information…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Textured meshes are becoming an increasingly popular representation combining the 3D geometry and radiometry of real scenes. However, semantic segmentation algorithms for urban mesh have been little investigated and do not exploit all…

The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as autonomous driving. Hence, accurate delineation of the…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

The semantic understanding of indoor 3D point cloud data is crucial for a range of subsequent applications, including indoor service robots, navigation systems, and digital twin engineering. Global features are crucial for achieving…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

3D point cloud panoptic segmentation is the combined task to (i) assign each point to a semantic class and (ii) separate the points in each class into object instances. Recently there has been an increased interest in such comprehensive 3D…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

We introduce a new outdoor urban 3D pointcloud dataset, covering a total area of 2.7 $km^2$, sampled from three Swiss cities with different characteristics. The dataset is manually annotated for semantic segmentation with per-point labels,…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

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…