相关论文: CPSeg: Cluster-free Panoptic Segmentation of 3D Li…

Natural scene analysis and remote sensing imagery offer immense potential for advancements in large-scale language-guided context-aware data utilization. This potential is particularly significant for enhancing performance in downstream…

Dominant paradigms for 4D LiDAR panoptic segmentation are usually required to train deep neural networks with large superimposed point clouds or design dedicated modules for instance association. However, these approaches perform redundant…

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…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Due to its robust and precise distance measurements, LiDAR plays an important role in scene understanding for autonomous driving. Training deep neural networks (DNNs) on LiDAR data requires large-scale point-wise annotations, which are…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

This paper revisits few-shot 3D point cloud semantic segmentation (FS-PCS), with a focus on two significant issues in the state-of-the-art: foreground leakage and sparse point distribution. The former arises from non-uniform point sampling,…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Panoptic segmentation is a scene parsing task which unifies semantic segmentation and instance segmentation into one single task. However, the current state-of-the-art studies did not take too much concern on inference time. In this work,…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

In this study, we propose a novel parallel processing method for point cloud ground segmentation, aimed at the technology evolution from mechanical to solid-state Lidar (SSL). We first benchmark point-based, grid-based, and range…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

This work proposed a novel learning objective to train a deep neural network to perform end-to-end image pixel clustering. We applied the approach to instance segmentation, which is at the intersection of image semantic segmentation and…

In recent years, compact and efficient scene understanding representations have gained popularity in increasing situational awareness and autonomy of robotic systems. In this work, we illustrate the concept of a panoptic edge segmentation…