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Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

3-D object detection is pivotal for autonomous driving. Point cloud based methods have become increasingly popular for 3-D object detection, owing to their accurate depth information. NuTonomy's nuScenes dataset greatly extends commonly…

During the last few years, continual learning (CL) strategies for image classification and segmentation have been widely investigated designing innovative solutions to tackle catastrophic forgetting, like knowledge distillation and…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

Although recent point cloud analysis achieves impressive progress, the paradigm of representation learning from a single modality gradually meets its bottleneck. In this work, we take a step towards more discriminative 3D point cloud…

Adverse weather conditions significantly degrade the performance of LiDAR point cloud semantic segmentation networks by introducing large distribution shifts. Existing augmentation-based methods attempt to enhance robustness by simulating…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Recent studies emphasize the crucial role of data augmentation in enhancing the performance of object detection models. However,existing methodologies often struggle to effectively harmonize dataset diversity with semantic coordination.To…

Deep learning models are the state-of-the-art methods for semantic point cloud segmentation, the success of which relies on the availability of large-scale annotated datasets. However, it can be extremely time-consuming and prohibitively…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

Despite the success of convolution- and attention-based models in vision tasks, their rigid receptive fields and complex architectures limit their ability to model irregular spatial patterns and hinder interpretability, therefore posing…

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 recent multi-modality models have achieved great performance in many vision tasks because the extracted features contain the multi-modality knowledge. However, most of the current registration descriptors have only concentrated on local…