相关论文: MaskGroup: Hierarchical Point Grouping and Masking…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

The two-stage methods for instance segmentation, e.g. Mask R-CNN, have achieved excellent performance recently. However, the segmented masks are still very coarse due to the downsampling operations in both the feature pyramid and the…

Instance segmentation on 3D point clouds is one of the most extensively researched areas toward the realization of autonomous cars and robots. Certain existing studies have split input point clouds into small regions such as 1m x 1m; one…

We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

We present a novel 3D instance segmentation framework for Multi-View Stereo (MVS) buildings in urban scenes. Unlike existing works focusing on semantic segmentation of urban scenes, the emphasis of this work lies in detecting and segmenting…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…

Point cloud panoptic segmentation is a challenging task that seeks a holistic solution for both semantic and instance segmentation to predict groupings of coherent points. Previous approaches treat semantic and instance segmentation as…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

We present a new, embarrassingly simple approach to instance segmentation in images. Compared to many other dense prediction tasks, e.g., semantic segmentation, it is the arbitrary number of instances that have made instance segmentation…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

We introduce the task of open-vocabulary 3D instance segmentation. Current approaches for 3D instance segmentation can typically only recognize object categories from a pre-defined closed set of classes that are annotated in the training…

Online zero-shot 3D instance segmentation of a progressively reconstructed scene is both a critical and challenging task for embodied applications. With the success of visual foundation models (VFMs) in the image domain, leveraging 2D…

Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…

We introduce PointGauss, a novel point cloud-guided framework for real-time multi-object segmentation in Gaussian Splatting representations. Unlike existing methods that suffer from prolonged initialization and limited multi-view…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Masked autoencoding has achieved great success for self-supervised learning in the image and language domains. However, mask based pretraining has yet to show benefits for point cloud understanding, likely due to standard backbones like…