相关论文: SMAC-Seg: LiDAR Panoptic Segmentation via Sparse M…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Existing methods for instance segmentation in videos typically involve multi-stage pipelines that follow the tracking-by-detection paradigm and model a video clip as a sequence of images. Multiple networks are used to detect objects in…

We propose an end-to-end learning approach for panoptic segmentation, a novel task unifying instance (things) and semantic (stuff) segmentation. Our model, TASCNet, uses feature maps from a shared backbone network to predict in a single…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Several unsupervised image segmentation approaches have been proposed which eliminate the need for dense manually-annotated segmentation masks; current models separately handle either semantic segmentation (e.g., STEGO) or class-agnostic…

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…

We propose a novel recurrent attentional structure to localize and recognize objects jointly. The network can learn to extract a sequence of local observations with detailed appearance and rough context, instead of sliding windows or…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Recent advances in autonomous robotic technologies have highlighted the growing need for precise environmental analysis. LiDAR semantic segmentation has gained attention to accomplish fine-grained scene understanding by acting directly on…

Panoptic segmentation unifies semantic segmentation and instance segmentation which has been attracting increasing attention in recent years. However, most existing research was conducted under a supervised learning setup whereas…

Humans have the remarkable ability to perceive objects as a whole, even when parts of them are occluded. This ability of amodal perception forms the basis of our perceptual and cognitive understanding of our world. To enable robots to…

Medical image segmentation, or computing voxelwise semantic masks, is a fundamental yet challenging task to compute a voxel-level semantic mask. To increase the ability of encoder-decoder neural networks to perform this task across large…

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets.…

Noisy labels, inevitably existing in pseudo segmentation labels generated from weak object-level annotations, severely hampers model optimization for semantic segmentation. Previous works often rely on massive hand-crafted losses and…

Spatial attention mechanism has been widely used in semantic segmentation of remote sensing images given its capability to model long-range dependencies. Many methods adopting spatial attention mechanism aggregate contextual information…

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…

Panoptic Narrative Detection (PND) and Segmentation (PNS) are two challenging tasks that involve identifying and locating multiple targets in an image according to a long narrative description. In this paper, we propose a unified and…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Semantic segmentation research has recently witnessed rapid progress, but many leading methods are unable to identify object instances. In this paper, we present Multi-task Network Cascades for instance-aware semantic segmentation. Our…