相关论文: Understanding the Challenges When 3D Semantic Segm…

Out-of-Distribution (OOD) detection in computer vision is a crucial research area, with related benchmarks playing a vital role in assessing the generalizability of models and their applicability in real-world scenarios. However, existing…

Existing 3D instance segmentation methods typically assume that all semantic classes to be segmented would be available during training and only seen categories are segmented at inference. We argue that such a closed-world assumption is…

Recent advances in robust semi-supervised learning (SSL) typically filter out-of-distribution (OOD) information at the sample level. We argue that an overlooked problem of robust SSL is its corrupted information on semantic level,…

Deep learning has led to remarkable strides in scene understanding with panoptic segmentation emerging as a key holistic scene interpretation task. However, the performance of panoptic segmentation is severely impacted in the presence of…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

Uncertainty estimation is crucial for machine learning models to detect out-of-distribution (OOD) inputs. However, the conventional discriminative deep learning classifiers produce uncalibrated closed-set predictions for OOD data. A more…

Semantic scene understanding is crucial for robust and safe autonomous navigation, particularly so in off-road environments. Recent deep learning advances for 3D semantic segmentation rely heavily on large sets of training data, however…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

In addition to accurate scene understanding through precise semantic segmentation of LiDAR point clouds, detecting out-of-distribution (OOD) objects, instances not encountered during training, is essential to prevent the incorrect…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

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…

Motivated by the increasing popularity of transformers in computer vision, in recent times there has been a rapid development of novel architectures. While in-domain performance follows a constant, upward trend, properties like robustness…

Robustness to out-of-distribution (OOD) data is an important goal in building reliable machine learning systems. Especially in autonomous systems, wrong predictions for OOD inputs can cause safety critical situations. As a first step…

For semi-supervised learning with imbalance classes, the long-tailed distribution of data will increase the model prediction bias toward dominant classes, undermining performance on less frequent classes. Existing methods also face…

Within the context of autonomous driving, encountering unknown objects becomes inevitable during deployment in the open world. Therefore, it is crucial to equip standard semantic segmentation models with anomaly awareness. Many previous…

When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an…

In recent years, deep neural networks have defined the state-of-the-art in semantic segmentation where their predictions are constrained to a predefined set of semantic classes. They are to be deployed in applications such as automated…

Out-of-distribution (OOD) robustness is a critical challenge for modern machine learning systems, particularly as they increasingly operate in multimodal settings involving inputs like video, audio, and sensor data. Currently, many OOD…