相关论文: Panoster: End-to-end Panoptic Segmentation of LiDA…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…

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…

Vision-centric occupancy networks, which represent the surrounding environment with uniform voxels with semantics, have become a new trend for safe driving of camera-only autonomous driving perception systems, as they are able to detect…

Classic computer vision algorithms, instance segmentation, and semantic segmentation can not provide a holistic understanding of the surroundings for the visually impaired. In this paper, we utilize panoptic segmentation to assist the…

Several unsupervised image segmentation approaches have been proposed which eliminate the need for dense manually-annotated segmentation masks; current models separately handle either semantic segmentation (e.g., STEGO) or class-agnostic…

Reliable scene understanding is indispensable for modern autonomous systems. Current learning-based methods typically try to maximize their performance based on segmentation metrics that only consider the quality of the segmentation.…

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,…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

In this study, we propose a novel parallel processing method for point cloud ground segmentation, aimed at the technology evolution from mechanical to solid-state Lidar (SSL). We first benchmark point-based, grid-based, and range…

Point cloud instance segmentation has achieved huge progress with the emergence of deep learning. However, these methods are usually data-hungry with expensive and time-consuming dense point cloud annotations. To alleviate the annotation…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

Semantic, instance, and panoptic segmentations have been addressed using different and specialized frameworks despite their underlying connections. This paper presents a unified, simple, and effective framework for these essentially similar…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

In this paper, we present a conceptually simple, strong, and efficient framework for fully- and weakly-supervised panoptic segmentation, called Panoptic FCN. Our approach aims to represent and predict foreground things and background stuff…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

3D instance segmentation for laser scanning (LiDAR) point clouds remains a challenge in many remote sensing-related domains. Successful solutions typically rely on supervised deep learning and manual annotations, and consequently focus on…