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

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Conventional point cloud semantic segmentation methods usually employ an encoder-decoder architecture, where mid-level features are locally aggregated to extract geometric information. However, the over-reliance on these class-agnostic…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Driven by the increasing demand for accurate and efficient representation of 3D data in various domains, point cloud sampling has emerged as a pivotal research topic in 3D computer vision. Recently, learning-to-sample methods have garnered…

Learning discriminative image feature embeddings is of great importance to visual recognition. To achieve better feature embeddings, most current methods focus on designing different network structures or loss functions, and the estimated…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Domain generalization in 3D segmentation is a critical challenge in deploying models to unseen environments. Current methods mitigate the domain shift by augmenting the data distribution of point clouds. However, the model learns global…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Large-scale point cloud consists of a multitude of individual objects, thereby encompassing rich structural and underlying semantic contextual information, resulting in a challenging problem in efficiently segmenting a point cloud. Most…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

LiDAR-based 3D object detection pushes forward an immense influence on autonomous vehicles. Due to the limitation of the intrinsic properties of LiDAR, fewer points are collected at the objects farther away from the sensor. This imbalanced…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…