相关论文: FPCC: Fast Point Cloud Clustering based Instance S…

Segmentation from point cloud data is essential in many applications such as remote sensing, mobile robots, or autonomous cars. However, the point clouds captured by the 3D range sensor are commonly sparse and unstructured, challenging…

Industrial bin picking is a challenging task that requires accurate and robust segmentation of individual object instances. Particularly, industrial objects can have irregular shapes, that is, thin and concave, whereas in bin-picking…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

For most industrial bin picking solutions, the pose of a workpiece is localized by matching a CAD model to point cloud obtained from 3D sensor. Distinguishing flat workpieces from bottom of the bin in point cloud imposes challenges in the…

Semantic and instance segmentation algorithms are two general yet distinct image segmentation solutions powered by Convolution Neural Network. While semantic segmentation benefits extensively from the end-to-end training strategy, instance…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Separating 3D point clouds into individual instances is an important task for 3D vision. It is challenging due to the unknown and varying number of instances in a scene. Existing deep learning based works focus on a two-step pipeline: first…

Current state-of-the-art instance segmentation methods are not suited for real-time applications like autonomous driving, which require fast execution times at high accuracy. Although the currently dominant proposal-based methods have high…

Fine-grained clustering is a practical yet challenging task, whose essence lies in capturing the subtle differences between instances of different classes. Such subtle differences can be easily disrupted by data augmentation or be…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

Clustering is a core task in machine learning with wide-ranging applications in data mining and pattern recognition. However, its unsupervised nature makes it inherently challenging. Many existing clustering algorithms suffer from critical…

We propose a method for instance-level segmentation that uses RGB-D data as input and provides detailed information about the location, geometry and number of individual objects in the scene. This level of understanding is fundamental for…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…

Computer vision enables the development of new approaches to monitor the behavior, health, and welfare of animals. Instance segmentation is a high-precision method in computer vision for detecting individual animals of interest. This method…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…