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

Single-point annotation is increasingly prominent in visual tasks for labeling cost reduction. However, it challenges tasks requiring high precision, such as the point-prompted instance segmentation (PPIS) task, which aims to estimate…

Current instance segmentation methods can be categorized into segmentation-based methods that segment first then do clustering, and proposal-based methods that detect first then predict masks for each instance proposal using repooling. In…

We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Accurate perception and scene understanding in complex urban environments is a critical challenge for ensuring safe and efficient autonomous navigation. In this paper, we present Co-Win, a novel bird's eye view (BEV) perception framework…

Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object bounding boxes for 3D panoptic segmentation, which is not…

In this work, we propose a novel node splitting method for regression trees and incorporate it into the regression forest framework. Unlike traditional binary splitting, where the splitting rule is selected from a predefined set of binary…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

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…

Video instance segmentation (VIS) aims at segmenting and tracking objects in videos. Prior methods typically generate frame-level or clip-level object instances first and then associate them by either additional tracking heads or complex…

Instance segmentation and panoptic segmentation is being paid more and more attention in recent years. In comparison with bounding box based object detection and semantic segmentation, instance segmentation can provide more analytical…

Detecting and segmenting novel object instances in open-world environments is a fundamental problem in robotic perception. Given only a small set of template images, a robot must locate and segment a specific object instance in a cluttered,…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…

In this paper, we focus on semi-supervised object detection to boost performance of proposal-based object detectors (a.k.a. two-stage object detectors) by training on both labeled and unlabeled data. However, it is non-trivial to train…

While Contrastive Language-Image Pre-training (CLIP) has advanced open-vocabulary predictions, its performance on semantic segmentation remains suboptimal. This shortfall primarily stems from its spatial-invariant semantic features and…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

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…