相关论文: Point Cloud Segmentation Using Sparse Temporal Loc…

Existing point cloud learning methods aggregate features from neighbouring points relying on constructing graph in the spatial domain, which results in feature update for each point based on spatially-fixed neighbours throughout layers. In…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

In video lane detection, there are rich temporal contexts among successive frames, which is under-explored in existing lane detectors. In this work, we propose LaneTCA to bridge the individual video frames and explore how to effectively…

3D object detection using point cloud (PC) data is essential for perception pipelines of autonomous driving, where efficient encoding is key to meeting stringent resource and latency requirements. PointPillars, a widely adopted bird's-eye…

Textured meshes are becoming an increasingly popular representation combining the 3D geometry and radiometry of real scenes. However, semantic segmentation algorithms for urban mesh have been little investigated and do not exploit all…

Upsampling LiDAR point clouds in autonomous driving scenarios remains a significant challenge due to the inherent sparsity and complex 3D structures of the data. Recent studies have attempted to address this problem by converting the…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

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…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Point cloud has been widely used in the field of autonomous driving since it can provide a more comprehensive three-dimensional representation of the environment than 2D images. Point-wise prediction based on point cloud sequence (PCS) is…

In 3D point cloud understanding, the core challenge lies in accurately capturing discriminative features within complex neighborhoods, which directly affects the execution precision of downstream tasks such as embodied AI and autonomous…

We propose a novel neural network module that transforms an existing single-frame semantic segmentation model into a video semantic segmentation pipeline. In contrast to prior works, we strive towards a simple, fast, and general module that…

Ever since the prevalent use of the LiDARs in autonomous driving, tremendous improvements have been made to the learning on the point clouds. However, recent progress largely focuses on detecting objects in a single 360-degree sweep,…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

In this paper, we apply the attention mechanism to autonomous driving for steering angle prediction. We propose the first model, applying the recently introduced sparse attention mechanism to visual domain, as well as the aggregated…

We present a novel attention-based mechanism to learn enhanced point features for point cloud processing tasks, e.g., classification and segmentation. Unlike prior works, which were trained to optimize the weights of a pre-selected set of…

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…

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…

Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current…