相关论文: Panoptic-PolarNet: Proposal-free LiDAR Point Cloud…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

Open-world Instance Segmentation (OIS) is a challenging task that aims to accurately segment every object instance appearing in the current observation, regardless of whether these instances have been labeled in the training set. This is…

LiDAR semantic segmentation models are typically trained from random initialization as universal pre-training is hindered by the lack of large, diverse datasets. Moreover, most point cloud segmentation architectures incorporate custom…

Self-supervised learning on point clouds has gained a lot of attention recently, since it addresses the label-efficiency and domain-gap problems on point cloud tasks. In this paper, we propose a novel self-supervised framework to learn…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

We present a new method for efficient high-quality image segmentation of objects and scenes. By analogizing classical computer graphics methods for efficient rendering with over- and undersampling challenges faced in pixel labeling tasks,…

LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…

Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Single-point annotation is increasingly prominent in visual tasks for labeling cost reduction. However, it challenges tasks requiring high precision, such as the point-prompted instance segmentation (PPIS) task, which aims to estimate…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Current semantic segmentation approaches for point cloud scenes heavily rely on manual labeling, while research on unsupervised semantic segmentation methods specifically for raw point clouds is still in its early stages. Unsupervised point…

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…

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…