相关论文: LMSCNet: Lightweight Multiscale 3D Semantic Comple…

Creating machines capable of understanding the world in 3D is essential in assisting designers that build and edit 3D environments and robots navigating and interacting within a three-dimensional space. Inspired by advances in language and…

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…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since…

To better understand scene images in the field of remote sensing, multi-label annotation of scene images is necessary. Moreover, to enhance the performance of deep learning models for dealing with semantic scene understanding tasks, it is…

Remote sensing images pose distinct challenges for downstream tasks due to their inherent complexity. While a considerable amount of research has been dedicated to remote sensing classification, object detection and semantic segmentation,…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine…

Few-shot Semantic Segmentation addresses the challenge of segmenting objects in query images with only a handful of annotated examples. However, many previous state-of-the-art methods either have to discard intricate local semantic features…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

The low-level details and high-level semantics are both essential to the semantic segmentation task. However, to speed up the model inference, current approaches almost always sacrifice the low-level details, which leads to a considerable…

In contrast to the abundant research focusing on large-scale models, the progress in lightweight semantic segmentation appears to be advancing at a comparatively slower pace. However, existing compact methods often suffer from limited…

Semantic Scene Completion (SSC) aims to jointly estimate the complete geometry and semantics of a scene, assuming partial sparse input. In the last years following the multiplication of large-scale 3D datasets, SSC has gained significant…

We introduce a novel deep learning-based framework to interpret 3D urban scenes represented as textured meshes. Based on the observation that object boundaries typically align with the boundaries of planar regions, our framework achieves…

Recent studies show that leveraging the match-wise relationships within the 4D correlation map yields significant improvements in establishing semantic correspondences - but at the cost of increased computation and latency. In this work, we…