相关论文: CPGNet: Cascade Point-Grid Fusion Network for Real…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

Image semantic segmentation aims at the pixel-level classification of images, which has requirements for both accuracy and speed in practical application. Existing semantic segmentation methods mainly rely on the high-resolution input to…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

The demand of applying semantic segmentation model on mobile devices has been increasing rapidly. Current state-of-the-art networks have enormous amount of parameters hence unsuitable for mobile devices, while other small memory footprint…

Scene graphs are a compact and explicit representation successfully used in a variety of 2D scene understanding tasks. This work proposes a method to incrementally build up semantic scene graphs from a 3D environment given a sequence of…

In this paper, we aim at addressing two critical issues in the 3D detection task, including the exploitation of multiple sensors~(namely LiDAR point cloud and camera image), as well as the inconsistency between the localization and…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Multi-scale features are essential for dense prediction tasks, such as object detection, instance segmentation, and semantic segmentation. The prevailing methods usually utilize a classification backbone to extract multi-scale features and…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Scene graphs have proven to be highly effective for various scene understanding tasks due to their compact and explicit representation of relational information. However, current methods often overlook the critical importance of preserving…

Semantic segmentation of point clouds is a key component of scene understanding for robotics and autonomous driving. In this paper, we introduce TORNADO-Net - a neural network for 3D LiDAR point cloud semantic segmentation. We incorporate a…

Dense panoptic prediction is a key ingredient in many existing applications such as autonomous driving, automated warehouses or remote sensing. Many of these applications require fast inference over large input resolutions on affordable or…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

The precise fusion of computational fluid dynamic (CFD) data, wind tunnel tests data, and flight tests data in aerodynamic area is essential for obtaining comprehensive knowledge of both localized flow structures and global aerodynamic…

We focus on the very challenging task of semantic segmentation for autonomous driving system. It must deliver decent semantic segmentation result for traffic critical objects real-time. In this paper, we propose a very efficient yet…