相关论文: Learning Stixel-based Instance Segmentation

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to…

Instance segmentation has gained recently huge attention in various computer vision applications. It aims at providing different IDs to different object of the scene, even if they belong to the same class. This is useful in various…

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…

In recent years 3D object detection from LiDAR point clouds has made great progress thanks to the development of deep learning technologies. Although voxel or point based methods are popular in 3D object detection, they usually involve…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

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…

Current advances in deep learning is leading to human-level accuracy in computer vision tasks such as object classification, localization, semantic segmentation, and instance segmentation. In this paper, we describe a new deep convolutional…

Close-range laser scanning provides detailed 3D captures of forest stands but requires efficient software for processing 3D point cloud data and extracting individual trees. Although recent studies have introduced deep learning methods for…

Efficient detection and description of geometric regions in images is a prerequisite in visual systems for localization and mapping. Such systems still rely on traditional hand-crafted methods for efficient generation of lightweight…

Instance segmentation is an important pre-processing task in numerous real-world applications, such as robotics, autonomous vehicles, and human-computer interaction. Compared with the rapid development of deep learning for two-dimensional…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

We consider an interesting problem-salient instance segmentation in this paper. Other than producing bounding boxes, our network also outputs high-quality instance-level segments. Taking into account the category-independent property of…

We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…

In this work we present a novel compact scene representation based on Stixels that infers geometric and semantic information. Our approach overcomes the previous rather restrictive geometric assumptions for Stixels by introducing a novel…

In this paper, we propose a method to segment regions in three-dimensional point clouds. We assume that (i) the shape and the number of regions in the point cloud are not known and (ii) the point cloud may be noisy. The method consists of…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

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.…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…