相关论文: LidarMultiNet: Unifying LiDAR Semantic Segmentatio…

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…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

In this technical report, we introduce our winning solution "HorizonLiDAR3D" for the 3D detection track and the domain adaptation track in Waymo Open Dataset Challenge at CVPR 2020. Many existing 3D object detectors include prior-based…

LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world deployments, particularly for on-device post-deployment…

This paper aims at high-accuracy 3D object detection in autonomous driving scenario. We propose Multi-View 3D networks (MV3D), a sensory-fusion framework that takes both LIDAR point cloud and RGB images as input and predicts oriented 3D…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

Stack interchanges are essential components of transportation systems. Mobile laser scanning (MLS) systems have been widely used in road infrastructure mapping, but accurate mapping of complicated multi-layer stack interchanges are still…

Automated vehicles rely on an accurate and robust perception of the environment. Similarly to automated cars, highly automated trains require an environmental perception. Although there is a lot of research based on either camera or LiDAR…

Depth estimation and semantic segmentation play essential roles in scene understanding. The state-of-the-art methods employ multi-task learning to simultaneously learn models for these two tasks at the pixel-wise level. They usually focus…

The ability to deploy robots that can operate safely in diverse environments is crucial for developing embodied intelligent agents. As a community, we have made tremendous progress in within-domain LiDAR semantic segmentation. However, do…

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

Large-scale point cloud semantic segmentation is an important task in 3D computer vision, which is widely applied in autonomous driving, robotics, and virtual reality. Current large-scale point cloud semantic segmentation methods usually…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

Range-view based LiDAR segmentation methods are attractive for practical applications due to their direct inheritance from efficient 2D CNN architectures. In literature, most range-view based methods follow the per-pixel classification…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

In this paper, we present an Assertion-based Multi-View Fusion network (AMVNet) for LiDAR semantic segmentation which aggregates the semantic features of individual projection-based networks using late fusion. Given class scores from…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…