相关论文: Scribble-Supervised LiDAR Semantic Segmentation

Semantic labelling and instance segmentation are two tasks that require particularly costly annotations. Starting from weak supervision in the form of bounding box detection annotations, we propose a new approach that does not require…

Online object segmentation and tracking in Lidar point clouds enables autonomous agents to understand their surroundings and make safe decisions. Unfortunately, manual annotations for these tasks are prohibitively costly. We tackle this…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

Scribble supervision, a common form of weakly supervised learning, involves annotating pixels using hand-drawn curve lines, which helps reduce the cost of manual labelling. This technique has been widely used in medical image segmentation…

During the last few years, continual learning (CL) strategies for image classification and segmentation have been widely investigated designing innovative solutions to tackle catastrophic forgetting, like knowledge distillation and…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

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…

Pixel-wise clean annotation is necessary for fully-supervised semantic segmentation, which is laborious and expensive to obtain. In this paper, we propose a weakly supervised 2D semantic segmentation model by incorporating sparse bounding…

LiDAR provides highly accurate 3D point clouds. However, data needs to be manually labelled in order to provide subsequent useful information. Manual annotation of such data is time consuming, tedious and error prone, and hence in this…

Recently, weakly-supervised image segmentation using weak annotations like scribbles has gained great attention in computer vision and medical image analysis, since such annotations are much easier to obtain compared to time-consuming and…

Pixel-wise segmentation is one of the most data and annotation hungry tasks in our field. Providing representative and accurate annotations is often mission-critical especially for challenging medical applications. In this paper, we propose…

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…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

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…

Addressing the annotation challenge in 3D Point Cloud segmentation has inspired research into weakly supervised learning. Existing approaches mainly focus on exploiting manifold and pseudo-labeling to make use of large unlabeled data…

In the past few years we have seen great advances in object perception (particularly in 4D space-time dimensions) thanks to deep learning methods. However, they typically rely on large amounts of high-quality labels to achieve good…