相关论文: Hierarchical Aggregation for 3D Instance Segmentat…

This paper presents a novel method for instance segmentation of 3D point clouds. The proposed method is called Gaussian Instance Center Network (GICN), which can approximate the distributions of instance centers scattered in the whole scene…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Instance selection (IS) addresses the critical challenge of reducing dataset size while keeping informative characteristics, becoming increasingly important as datasets grow to millions of instances. Current IS methods often struggle with…

Independently exploring unknown spaces or finding objects in an indoor environment is a daily but challenging task for visually impaired people. However, common 2D assistive systems lack depth relationships between various objects,…

Current state-of-the-art instance segmentation methods are not suited for real-time applications like autonomous driving, which require fast execution times at high accuracy. Although the currently dominant proposal-based methods have high…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

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…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

In this paper, we present a new approach of distributed clustering for spatial datasets, based on an innovative and efficient aggregation technique. This distributed approach consists of two phases: 1) local clustering phase, where each…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

Existing 3D instance segmentation methods frequently encounter issues with over-segmentation, leading to redundant and inaccurate 3D proposals that complicate downstream tasks. This challenge arises from their unsupervised merging approach,…

We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…

Recently, query based object detection frameworks achieve comparable performance with previous state-of-the-art object detectors. However, how to fully leverage such frameworks to perform instance segmentation remains an open problem. In…

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.…

In this paper, we propose a novel joint instance and semantic segmentation approach, which is called JSNet, in order to address the instance and semantic segmentation of 3D point clouds simultaneously. Firstly, we build an effective…

Visual grouping is a key mechanism in human scene perception. There, it belongs to the subconscious, early processing and is key prerequisite for other high level tasks such as recognition. In this paper, we introduce an efficient, realtime…

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…

Instance Image-Goal Navigation (IIN) requires autonomous agents to identify and navigate to a target object or location depicted in a reference image captured from any viewpoint. While recent methods leverage powerful novel view synthesis…