相关论文: Transfer Learning from Synthetic to Real LiDAR Poi…

Using synthetic data for training neural networks that achieve good performance on real-world data is an important task as it can reduce the need for costly data annotation. Yet, synthetic and real world data have a domain gap. Reducing…

Point cloud video understanding is critical for robotics as it accurately encodes motion and scene interaction. We recognize that 4D datasets are far scarcer than 3D ones, which hampers the scalability of self-supervised 4D models. A…

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…

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…

This paper presents a new 3D point cloud classification benchmark data set with over four billion manually labelled points, meant as input for data-hungry (deep) learning methods. We also discuss first submissions to the benchmark that use…

Owing to the typical long-tail data distribution issues, simulating domain-gap-free synthetic data is crucial in robotics, photogrammetry, and computer vision research. The fundamental challenge pertains to credibly measuring the difference…

To train a well performing neural network for semantic segmentation, it is crucial to have a large dataset with available ground truth for the network to generalize on unseen data. In this paper we present novel point cloud augmentation…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

Although various 3D datasets with different functions and scales have been proposed recently, it remains challenging for individuals to complete the whole pipeline of large-scale data collection, sanitization, and annotation. Moreover, the…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

Large-scale datasets are usually required to train deep neural networks, but it increases the computational complexity hindering the practical applications. Recently, dataset distillation for images and texts has been attracting a lot of…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Point cloud processing and 3D shape understanding are very challenging tasks for which deep learning techniques have demonstrated great potentials. Still further progresses are essential to allow artificial intelligent agents to interact…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Real-world point cloud datasets have made significant contributions to the development of LiDAR-based perception technologies, such as object segmentation for autonomous driving. However, due to the limited number of instances in some rare…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

Exploiting synthetic data to learn deep models has attracted increasing attention in recent years. However, the intrinsic domain difference between synthetic and real images usually causes a significant performance drop when applying the…

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…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…