相关论文: A Technical Survey and Evaluation of Traditional P…

Panoptic Segmentation aims to provide an understanding of background (stuff) and instances of objects (things) at a pixel level. It combines the separate tasks of semantic segmentation (pixel level classification) and instance segmentation…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Panoptic segmentation unifies semantic and instance segmentation and thus delivers a semantic class label and, for so-called thing classes, also an instance label per pixel. The differentiation of distinct objects of the same class with a…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

In this paper we describe an approach to semi-automatically create a labelled dataset for semantic segmentation of urban street-level point clouds. We use data fusion techniques using public data sources such as elevation data and…

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…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…

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…

In recent years, with the development of computing resources and LiDAR, point cloud semantic segmentation has attracted many researchers. For the sparsity of point clouds, although there is already a way to deal with sparse convolution,…

This article addresses the problem of distilling knowledge from a large teacher model to a slim student network for LiDAR semantic segmentation. Directly employing previous distillation approaches yields inferior results due to the…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Clustering high-dimensional datasets is hard because interpoint distances become less informative in high-dimensional spaces. We present a clustering algorithm that performs nonlinear dimensionality reduction and clustering jointly. The…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Building Information Modeling (BIM) technology is a key component of modern construction engineering and project management workflows. As-is BIM models that represent the spatial reality of a project site can offer crucial information to…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…