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

We present a novel framework for floor plan-based, full six degree-of-freedom LiDAR localization. Our approach relies on robust ceiling and ground plane detection, which solves part of the pose and supports the segmentation of vertical…

Liquid Argon Time Projection Chambers (LArTPCs) are high resolution particle imaging detectors, employed by accelerator-based neutrino oscillation experiments for high precision physics measurements. While images of particle trajectories…

Pursuing more complete and coherent scene understanding towards realistic vision applications drives edge detection from category-agnostic to category-aware semantic level. However, finer delineation of instance-level boundaries still…

Currently prevalent multimodal 3D detection methods are built upon LiDAR-based detectors that usually use dense Bird's-Eye-View (BEV) feature maps. However, the cost of such BEV feature maps is quadratic to the detection range, making it…

Recent object detection systems rely on two critical steps: (1) a set of object proposals is predicted as efficiently as possible, and (2) this set of candidate proposals is then passed to an object classifier. Such approaches have been…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Leveraging class semantic descriptions and examples of known objects, zero-shot learning makes it possible to train a recognition model for an object class whose examples are not available. In this paper, we propose a novel zero-shot…

Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Unsupervised disentangled representation learning is a long-standing problem in computer vision. This work proposes a novel framework for performing image clustering from deep embeddings by combining instance-level contrastive learning with…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this…

We propose an approach to instance-level image segmentation that is built on top of category-level segmentation. Specifically, for each pixel in a semantic category mask, its corresponding instance bounding box is predicted using a deep…

Panoptic segmentation aims to perform instance segmentation for foreground instances and semantic segmentation for background stuff simultaneously. The typical top-down pipeline concentrates on two key issues: 1) how to effectively model…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

Automotive radar provides reliable environmental perception in all-weather conditions with affordable cost, but it hardly supplies semantic and geometry information due to the sparsity of radar detection points. With the development of…

We address the problem of instance-level semantic segmentation, which aims at jointly detecting, segmenting and classifying every individual object in an image. In this context, existing methods typically propose candidate objects, usually…

This work addresses the task of instance-aware semantic segmentation. Our key motivation is to design a simple method with a new modelling-paradigm, which therefore has a different trade-off between advantages and disadvantages compared to…