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

Lane detection is to detect lanes on the road and provide the accurate location and shape of each lane. It severs as one of the key techniques to enable modern assisted and autonomous driving systems. However, several unique properties of…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

While neural networks allow highly accurate predictions in many tasks, their lack of robustness towards even slight input perturbations often hampers their deployment. Adversarial attacks such as the seminal projected gradient descent (PGD)…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

3D Question Answering (3D QA) requires the model to comprehensively understand its situated 3D scene described by the text, then reason about its surrounding environment and answer a question under that situation. However, existing methods…

LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Visual-based perception is the key module for autonomous driving. Among those visual perception tasks, video object detection is a primary yet challenging one because of feature degradation caused by fast motion or multiple poses. Current…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Multimodal (e.g., RGB-Depth/RGB-Thermal) fusion has shown great potential for improving semantic segmentation in complex scenes (e.g., indoor/low-light conditions). Existing approaches often fully fine-tune a dual-branch encoder-decoder…

Semantic Scene Completion (SSC) aims to simultaneously predict the volumetric occupancy and semantic category of a 3D scene. It helps intelligent devices to understand and interact with the surrounding scenes. Due to the high-memory…

Semantic segmentation has made encouraging progress due to the success of deep convolutional networks in recent years. Meanwhile, depth sensors become prevalent nowadays, so depth maps can be acquired more easily. However, there are few…

Maintaining robust 3D perception under dynamic and unpredictable test-time conditions remains a critical challenge for autonomous driving systems. Existing test-time adaptation (TTA) methods often fail in high-variance tasks like 3D object…

The rapid increment of morbidity of brain stroke in the last few years have been a driving force towards fast and accurate segmentation of stroke lesions from brain MRI images. With the recent development of deep-learning, computer-aided…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Semantic segmentation stands as a pivotal research focus in computer vision. In the context of industrial image inspection, conventional semantic segmentation models fail to maintain the segmentation consistency of fixed components across…

Deep 3-dimensional (3D) Convolutional Network (ConvNet) has shown promising performance on video recognition tasks because of its powerful spatio-temporal information fusion ability. However, the extremely intensive requirements on memory…

Real-time and high-performance 3D object detection is of critical importance for autonomous driving. Recent top-performing 3D object detectors mainly rely on point-based or 3D voxel-based convolutions, which are both computationally…