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

In this paper, we introduce an open-vocabulary panoptic segmentation model that effectively unifies the strengths of the Segment Anything Model (SAM) with the vision-language CLIP model in an end-to-end framework. While SAM excels in…

In this paper, we propose a new approach to applying point-level annotations for weakly-supervised panoptic segmentation. Instead of the dense pixel-level labels used by fully supervised methods, point-level labels only provide a single…

Panoptic segmentation is a key enabler for robotic perception, as it unifies semantic understanding with object-level reasoning. However, the increasing complexity of state-of-the-art models makes them unsuitable for deployment on…

Single-point annotation in visual tasks, with the goal of minimizing labelling costs, is becoming increasingly prominent in research. Recently, visual foundation models, such as Segment Anything (SAM), have gained widespread usage due to…

Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on closed-set assumptions, failing to detect unknown object…

State-of-the-art multimodal semantic segmentation strategies combining LiDAR and color data are usually designed on top of asymmetric information-sharing schemes and assume that both modalities are always available. This strong assumption…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

Instance segmentation is the problem of detecting and delineating each distinct object of interest appearing in an image. Current instance segmentation approaches consist of ensembles of modules that are trained independently of each other,…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

As the exorbitant expense of labeling autopilot datasets and the growing trend of utilizing unlabeled data, semi-supervised segmentation on point clouds becomes increasingly imperative. Intuitively, finding out more ``unspoken words''…

In computer vision, object detection is an important task that finds its application in many scenarios. However, obtaining extensive labels can be challenging, especially in crowded scenes. Recently, the Segment Anything Model (SAM) has…

LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world deployments, particularly for on-device post-deployment…

Robots and autonomous vehicles should be aware of what happens in their surroundings. The segmentation and tracking of moving objects are essential for reliable path planning, including collision avoidance. We investigate this estimation…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

LiDAR perception is fundamental to robotics, enabling machines to understand their environment in 3D. A crucial task for LiDAR-based scene understanding and navigation is ground segmentation. However, existing methods are either handcrafted…

Panoptic segmentation that unifies instance segmentation and semantic segmentation has recently attracted increasing attention. While most existing methods focus on designing novel architectures, we steer toward a different perspective:…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Panoptic segmentation requires segments of both "things" (countable object instances) and "stuff" (uncountable and amorphous regions) within a single output. A common approach involves the fusion of instance segmentation (for "things") and…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

Image segmentation and depth estimation are crucial tasks in computer vision, especially in autonomous driving scenarios. Although these tasks are typically addressed separately, we propose an innovative approach to combine them in our…