相关论文: Robust 3D Scene Segmentation through Hierarchical …

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

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…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

This paper introduces a method for image semantic segmentation grounded on a novel fusion scheme, which takes place inside a deep convolutional neural network. The main goal of our proposal is to explore object boundary information to…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

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…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Semantic mapping based on the supervised object detectors is sensitive to image distribution. In real-world environments, the object detection and segmentation performance can lead to a major drop, preventing the use of semantic mapping in…

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

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

In this paper, we propose a novel joint instance and semantic segmentation approach, which is called JSNet, in order to address the instance and semantic segmentation of 3D point clouds simultaneously. Firstly, we build an effective…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Existing 3D semantic segmentation methods rely on point-wise or voxel-wise feature descriptors to output segmentation predictions. However, these descriptors are often supervised at point or voxel level, leading to segmentation models that…

In this paper, we present a novel neural network using multi scale feature fusion at various scales for accurate and efficient semantic image segmentation. We used ResNet based feature extractor, dilated convolutional layers in downsampling…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…