相关论文: S3Net: 3D LiDAR Sparse Semantic Segmentation Netwo…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

Semantic scene understanding, including the perception and classification of moving agents, is essential to enabling safe and robust driving behaviours of autonomous vehicles. Cameras and LiDARs are commonly used for semantic scene…

Radar-based perception has gained increasing attention in autonomous driving, yet the inherent sparsity of radars poses challenges. Radar raw data often contains excessive noise, whereas radar point clouds retain only limited information.…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Semantic segmentation of remote sensing images plays a vital role in a wide range of Earth Observation applications, such as land use land cover mapping, environment monitoring, and sustainable development. Driven by rapid developments in…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

As three-dimensional (3D) data acquisition devices become increasingly prevalent, the demand for 3D point cloud transmission is growing. In this study, we introduce a semantic-aware communication system for robust point cloud classification…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

LiDAR-based perception in autonomous systems is constrained by fixed vertical beam resolution and further compromised by beam dropout resulting from environmental occlusions. This paper introduces SuperiorGAT, a graph attention-based…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

We present SLNet, a lightweight backbone for 3D point cloud recognition designed to achieve strong performance without the computational cost of many recent attention, graph, and deep MLP based models. The model is built on two simple…

Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…

LiDAR point-cloud segmentation is an important problem for many applications. For large-scale point cloud segmentation, the \textit{de facto} method is to project a 3D point cloud to get a 2D LiDAR image and use convolutions to process it.…

We propose an efficient Stereographic Projection Neural Network (SPNet) for learning representations of 3D objects. We first transform a 3D input volume into a 2D planar image using stereographic projection. We then present a shallow 2D…

Among various sensors for assisted and autonomous driving systems, automotive radar has been considered as a robust and low-cost solution even in adverse weather or lighting conditions. With the recent development of radar technologies and…