相关论文: RELLIS-3D Dataset: Data, Benchmarks and Analysis

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Autonomous trucking is a promising technology that can greatly impact modern logistics and the environment. Ensuring its safety on public roads is one of the main duties that requires an accurate perception of the environment. To achieve…

Deep convolutional neural networks (CNNs) are state-of-the-art for semantic image segmentation, but typically require many labeled training samples. Obtaining 3D segmentations of medical images for supervised training is difficult and labor…

Understanding road scenes for visual perception remains crucial for intelligent self-driving cars. In particular, it is desirable to detect unexpected small road hazards reliably in real-time, especially under varying adverse conditions…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…

Robust scene understanding is essential for intelligent vehicles operating in natural, unstructured environments. While semantic segmentation datasets for structured urban driving are abundant, the datasets for extremely unstructured wild…

Despite the success of deep learning on supervised point cloud semantic segmentation, obtaining large-scale point-by-point manual annotations is still a significant challenge. To reduce the huge annotation burden, we propose a Region-based…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

Low-latency intelligent systems are required for autonomous driving on non-uniform terrain in open-pit mines and developing countries. This work proposes a perception system for autonomous vehicles on unpaved roads and off-road…

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the…

Remote sensing image segmentation faces persistent challenges in distinguishing morphologically similar categories and adapting to diverse scene variations. While existing methods rely on implicit representation learning paradigms, they…

In robotics and computer vision communities, extensive studies have been widely conducted regarding surveillance tasks, including human detection, tracking, and motion recognition with a camera. Additionally, deep learning algorithms are…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

4D radars are increasingly favored for odometry and mapping of autonomous systems due to their robustness in harsh weather and dynamic environments. Existing datasets, however, often cover limited areas and are typically captured using a…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Before deployment in the real-world deep neural networks require thorough evaluation of how they handle both knowns, inputs represented in the training data, and unknowns (anomalies). This is especially important for scene understanding…

Autonomous vehicles require knowledge of the surrounding road layout, which can be predicted by state-of-the-art CNNs. This work addresses the current lack of data for determining lane instances, which are needed for various driving…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…