相关论文: Self-Supervised Pillar Motion Learning for Autonom…

The perception of motion behavior in a dynamic environment holds significant importance for autonomous driving systems, wherein class-agnostic motion prediction methods directly predict the motion of the entire point cloud. While most…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

In this work, we propose to learn local descriptors for point clouds in a self-supervised manner. In each iteration of the training, the input of the network is merely one unlabeled point cloud. On top of our previous work, that directly…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

In this paper, we propose a novel self-supervised motion estimator for LiDAR-based autonomous driving via BEV representation. Different from usually adopted self-supervised strategies for data-level structure consistency, we predict scene…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Point cloud data has been extensively studied due to its compact form and flexibility in representing complex 3D structures. The ability of point cloud data to accurately capture and represent intricate 3D geometry makes it an ideal choice…

For a self-driving car to operate reliably, its perceptual system must generalize to the end-user's environment -- ideally without additional annotation efforts. One potential solution is to leverage unlabeled data (e.g., unlabeled LiDAR…

This work proposes a self-supervised learning system for segmenting rigid objects in RGB images. The proposed pipeline is trained on unlabeled RGB-D videos of static objects, which can be captured with a camera carried by a mobile robot. A…

3D point clouds are a crucial type of data collected by LiDAR sensors and widely used in transportation applications due to its concise descriptions and accurate localization. Deep neural networks (DNNs) have achieved remarkable success in…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Self-supervised learning (SSL) has the potential to benefit many applications, particularly those where manually annotating data is cumbersome. One such situation is the semantic segmentation of point clouds. In this context, existing…

Part mobility analysis is a significant aspect required to achieve a functional understanding of 3D objects. It would be natural to obtain part mobility from the continuous part motion of 3D objects. In this study, we introduce a…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

The perception of autonomous vehicles using radars has attracted increased research interest due its ability to operate in fog and bad weather. However, training radar models is hindered by the cost and difficulty of annotating large-scale…

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…

Self-supervised learning (SSL) is an emerging technique that has been successfully employed to train convolutional neural networks (CNNs) and graph neural networks (GNNs) for more transferable, generalizable, and robust representation…