相关论文: Semantic Segmentation on Swiss3DCities: A Benchmar…

Research on supervised learning algorithms in 3D scene understanding has risen in prominence and witness great increases in performance across several datasets. The leading force of this research is the problem of autonomous driving…

Pothole detection is crucial for road safety and maintenance, traditionally relying on 2D image segmentation. However, existing 3D Semantic Pothole Segmentation research often overlooks point cloud sparsity, leading to suboptimal local…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

This paper investigates the indistinguishable points (difficult to predict label) in semantic segmentation for large-scale 3D point clouds. The indistinguishable points consist of those located in complex boundary, points with similar local…

Automated vehicles rely on an accurate and robust perception of the environment. Similarly to automated cars, highly automated trains require an environmental perception. Although there is a lot of research based on either camera or LiDAR…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

We present the UrbanBIS benchmark for large-scale 3D urban understanding, supporting practical urban-level semantic and building-level instance segmentation. UrbanBIS comprises six real urban scenes, with 2.5 billion points, covering a vast…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Visual understanding of complex urban street scenes is an enabling factor for a wide range of applications. Object detection has benefited enormously from large-scale datasets, especially in the context of deep learning. For semantic urban…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…