相关论文: 3D Instance Segmentation of MVS Buildings

Compared to many other dense prediction tasks, e.g., semantic segmentation, it is the arbitrary number of instances that has made instance segmentation much more challenging. In order to predict a mask for each instance, mainstream…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

We present the UrbanBIS benchmark for large-scale 3D urban understanding, supporting practical urban-level semantic and building-level instance segmentation. UrbanBIS comprises six real urban scenes, with 2.5 billion points, covering a vast…

Effectively summarizing dense 3D point cloud data and extracting motion information of moving objects (moving object segmentation, MOS) is crucial to autonomous driving and robotics applications. How to effectively utilize motion and…

Reasoning segmentation aims to segment target objects in complex scenes based on human intent and spatial reasoning. While recent multimodal large language models (MLLMs) have demonstrated impressive 2D image reasoning segmentation,…

Unsupervised 3D instance segmentation aims to segment objects from a 3D point cloud without any annotations. Existing methods face the challenge of either too loose or too tight clustering, leading to under-segmentation or…

Multiple object video object segmentation is a challenging task, specially for the zero-shot case, when no object mask is given at the initial frame and the model has to find the objects to be segmented along the sequence. In our work, we…

Monocular 3D detection has drawn much attention from the community due to its low cost and setup simplicity. It takes an RGB image as input and predicts 3D boxes in the 3D space. The most challenging sub-task lies in the instance depth…

Multi-view imaging systems enable uniform coverage of 3D space and reduce the impact of occlusion, which is beneficial for 3D object detection and tracking accuracy. However, existing imaging systems built with multi-view cameras or depth…

Detecting objects in 3D space using multiple cameras, known as Multi-Camera 3D Object Detection (MC3D-Det), has gained prominence with the advent of bird's-eye view (BEV) approaches. However, these methods often struggle when faced with…

Cloud based medical image analysis has become popular recently due to the high computation complexities of various deep neural network (DNN) based frameworks and the increasingly large volume of medical images that need to be processed. It…

Although instance-aware perception is a key prerequisite for many autonomous robotic applications, most of the methods only partially solve the problem by focusing solely on known object categories. However, for robots interacting in…

Weakly supervised instance segmentation reduces the cost of annotations required to train models. However, existing approaches which rely only on image-level class labels predominantly suffer from errors due to (a) partial segmentation of…

In this work, we propose a novel approach to prioritize the depth map computation of multi-view stereo (MVS) to obtain compact 3D point clouds of high quality and completeness at low computational cost. Our prioritization approach operates…

Anticipating future events is an important prerequisite towards intelligent behavior. Video forecasting has been studied as a proxy task towards this goal. Recent work has shown that to predict semantic segmentation of future frames,…

Bounded by the inherent ambiguity of depth perception, contemporary camera-based 3D object detection methods fall into the performance bottleneck. Intuitively, leveraging temporal multi-view stereo (MVS) technology is the natural knowledge…

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…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Labeling pixel-wise object masks in videos is a resource-intensive and laborious process. Box-supervised Video Instance Segmentation (VIS) methods have emerged as a viable solution to mitigate the labor-intensive annotation process. . In…

Video object segmentation (VOS) is a highly challenging problem since the initial mask, defining the target object, is only given at test-time. The main difficulty is to effectively handle appearance changes and similar background objects,…