相关论文: ASAP-Net: Attention and Structure Aware Point Clou…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Two factors have proven to be very important to the performance of semantic segmentation models: global context and multi-level semantics. However, generating features that capture both factors always leads to high computational complexity,…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

Expanding the receptive field in a deep learning model for large-scale 3D point cloud segmentation is an effective technique for capturing rich contextual information, which consequently enhances the network's ability to learn meaningful…

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…

Instance segmentation in point clouds is one of the most fine-grained ways to understand the 3D scene. Due to its close relationship to semantic segmentation, many works approach these two tasks simultaneously and leverage the benefits of…

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…

Semantic segmentation is a fundamental task in computer vision that involves dense pixel-wise classification for scene understanding. Despite significant progress, achieving high accuracy while maintaining real-time performance remains a…

Feature fusion modules from encoder and self-attention module have been adopted in semantic segmentation. However, the computation of these modules is costly and has operational limitations in real-time environments. In addition,…

Access to 3D point cloud representations has been widely facilitated by LiDAR sensors embedded in various mobile devices. This has led to an emerging need for fast and accurate point cloud processing techniques. In this paper, we revisit…

Airborne Laser Scanning (ALS) point clouds have complex structures, and their 3D semantic labeling has been a challenging task. It has three problems: (1) the difficulty of classifying point clouds around boundaries of objects from…

Point cloud prediction is an important yet challenging task in the field of autonomous driving. The goal is to predict future point cloud sequences that maintain object structures while accurately representing their temporal motion. These…

Recent works have made great progress in semantic segmentation by exploiting richer context, most of which are designed from a spatial perspective. In contrast to previous works, we present the concept of class center which extracts the…

The trade-off between feature representation power and spatial localization accuracy is crucial for the dense classification/semantic segmentation of aerial images. High-level features extracted from the late layers of a neural network are…

In this paper, we present a comprehensive point cloud semantic segmentation network that aggregates both local and global multi-scale information. First, we propose an Angle Correlation Point Convolution (ACPConv) module to effectively…

Point clouds are a key modality used for perception in autonomous vehicles, providing the means for a robust geometric understanding of the surrounding environment. However despite the sensor outputs from autonomous vehicles being naturally…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Spatial attention mechanism has been widely used in semantic segmentation of remote sensing images given its capability to model long-range dependencies. Many methods adopting spatial attention mechanism aggregate contextual information…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Recognizing human actions from point cloud sequence has attracted tremendous attention from both academia and industry due to its wide applications. However, most previous studies on point cloud action recognition typically require complex…