相关论文: Semantic Segmentation-assisted Scene Completion fo…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Traditionally, training neural networks to perform semantic segmentation required expensive human-made annotations. But more recently, advances in the field of unsupervised learning have made significant progress on this issue and towards…

Camera-based 3D semantic scene completion (SSC) plays a crucial role in autonomous driving, enabling voxelized 3D scene understanding for effective scene perception and decision-making. Existing SSC methods have shown efficacy in improving…

Traditional 3D segmentation methods can only recognize a fixed range of classes that appear in the training set, which limits their application in real-world scenarios due to the lack of generalization ability. Large-scale visual-language…

Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…

Casting semantic segmentation of outdoor LiDAR point clouds as a 2D problem, e.g., via range projection, is an effective and popular approach. These projection-based methods usually benefit from fast computations and, when combined with…

Learning descriptive 3D features is crucial for understanding 3D scenes with diverse objects and complex structures. However, it is usually unknown whether important geometric attributes and scene context obtain enough emphasis in an…

The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as autonomous driving. Hence, accurate delineation of the…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Besides local features, global information plays an essential role in semantic segmentation, while recent works usually fail to explicitly extract the meaningful global information and make full use of it. In this paper, we propose a…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment,…

Point clouds, a prominent method of 3D representation, are extensively utilized across industries such as autonomous driving, surveying, electricity, architecture, and gaming, and have been rigorously investigated for their accuracy and…

Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…