相关论文: Proposal-free Lidar Panoptic Segmentation with Pil…

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…

We present a simple deep learning framework to simultaneously predict keypoint locations and their respective visibilities and use those to achieve state-of-the-art performance for fine-grained classification. We show that by conditioning…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Panoptic segmentation is the recently introduced task that tackles semantic segmentation and instance segmentation jointly. In this paper, we present an extension of SemanticKITTI, which is a large-scale dataset providing dense point-wise…

Most of the modern instance segmentation approaches fall into two categories: region-based approaches in which object bounding boxes are detected first and later used in cropping and segmenting instances; and keypoint-based approaches in…

Place recognition is essential for long-term autonomous navigation, enabling loop closure and consistent mapping. Although deep learning has improved performance, deploying such models on resource-constrained platforms remains challenging.…

We present a novel method for proposal free instance segmentation that can handle sophisticated object shapes which span large parts of an image and form dense object clusters with crossovers. Our method is based on predicting dense local…

Existing methods for pixel-wise labelling tasks generally disregard the underlying structure of labellings, often leading to predictions that are visually implausible. While incorporating structure into the model should improve prediction…

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…

Random Ferns -- as a less known example of Ensemble Learning -- have been successfully applied in many Computer Vision applications ranging from keypoint matching to object detection. This paper extends the Random Fern framework to the…

Object proposals have become an integral preprocessing steps of many vision pipelines including object detection, weakly supervised detection, object discovery, tracking, etc. Compared to the learning-free methods, learning-based proposals…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

Novel Instance Detection and Segmentation (NIDS) aims at detecting and segmenting novel object instances given a few examples of each instance. We propose a unified, simple, yet effective framework (NIDS-Net) comprising object proposal…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…