相关论文: Open-world Semantic Segmentation for LIDAR Point C…

Discovering novel classes in open-world settings is crucial for real-world applications. Traditional explicit representations, such as object descriptors or 3D segmentation maps, are constrained by their discrete, hole-prone, and noisy…

Panoptic segmentation aims to address semantic and instance segmentation simultaneously in a unified framework. However, an efficient solution of panoptic segmentation in applications like autonomous driving is still an open research…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

Open world image segmentation aims to achieve precise segmentation and semantic understanding of targets within images by addressing the infinitely open set of object categories encountered in the real world. However, traditional closed-set…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

The need for fine-grained perception in autonomous driving systems has resulted in recently increased research on online semantic segmentation of single-scan LiDAR. Despite the emerging datasets and technological advancements, it remains…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

In spite of remarkable success of the convolutional neural networks on semantic segmentation, they suffer from catastrophic forgetting: a significant performance drop for the already learned classes when new classes are added on the data,…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

In this paper, we introduce SalsaNext for the uncertainty-aware semantic segmentation of a full 3D LiDAR point cloud in real-time. SalsaNext is the next version of SalsaNet [1] which has an encoder-decoder architecture where the encoder…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…

Deep neural networks have enabled major progresses in semantic segmentation. However, even the most advanced neural architectures suffer from important limitations. First, they are vulnerable to catastrophic forgetting, i.e. they perform…

LiDAR Semantic Segmentation is a fundamental task in autonomous driving perception consisting of associating each LiDAR point to a semantic label. Fully-supervised models have widely tackled this task, but they require labels for each scan,…

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…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

We tackle the novel class discovery in point cloud segmentation, which discovers novel classes based on the semantic knowledge of seen classes. Existing work proposes an online point-wise clustering method with a simplified equal class-size…