相关论文: PillarSegNet: Pillar-based Semantic Grid Map Estim…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

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…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

We present a novel post-processing tool for semantic segmentation of LiDAR point cloud data, called LidarMetaSeg, which estimates the prediction quality segmentwise. For this purpose we compute dispersion measures based on network…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

The need for fine-grained perception in autonomous driving systems has resulted in recently increased research on online semantic segmentation of single-scan LiDAR. Despite the emerging datasets and technological advancements, it remains…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…