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

Vision Foundation Models (VFMs) have become a de facto choice for many downstream vision tasks, like image classification, image segmentation, and object localization. However, they can also provide significant utility for downstream 3D…

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…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

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…

3D instance segmentation methods typically rely on high-quality point clouds or posed RGB-D scans, requiring complex multi-stage processing pipelines, and are highly sensitive to reconstruction noise. While recent feed-forward transformers…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

General scene understanding for robotics requires flexible semantic representation, so that novel objects and structures which may not have been known at training time can be identified, segmented and grouped. We present an algorithm which…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

Object parsing -- the task of decomposing an object into its semantic parts -- has traditionally been formulated as a category-level segmentation problem. Consequently, when there are multiple objects in an image, current methods cannot…

Instance segmentation is a computer vision task where separate objects in an image are detected and segmented. State-of-the-art deep neural network models require large amounts of labeled data in order to perform well in this task. Making…

Sketch semantic segmentation is a well-explored and pivotal problem in computer vision involving the assignment of pre-defined part labels to individual strokes. This paper presents ContextSeg - a simple yet highly effective approach to…

Panoptic Segmentation aims to provide an understanding of background (stuff) and instances of objects (things) at a pixel level. It combines the separate tasks of semantic segmentation (pixel level classification) and instance segmentation…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

We propose a novel fast and robust 3D point clouds segmentation framework via coupled feature selection, named 3DCFS, that jointly performs semantic and instance segmentation. Inspired by the human scene perception process, we design a…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…