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

In recent years there has been significant progress in the field of 3D learning on classification, detection and segmentation problems. The vast majority of the existing studies focus on canonical closed-set conditions, neglecting the…

State-of-the-art deep neural network recognition systems are designed for a static and closed world. It is usually assumed that the distribution at test time will be the same as the distribution during training. As a result, classifiers are…

Modern tools for class-agnostic image segmentation (e.g., SegmentAnything) and open-set semantic understanding (e.g., CLIP) provide unprecedented opportunities for robot perception and mapping. While traditional closed-set metric-semantic…

Semantic novelty detection aims at discovering unknown categories in the test data. This task is particularly relevant in safety-critical applications, such as autonomous driving or healthcare, where it is crucial to recognize unknown…

Range-View(RV)-based 3D point cloud segmentation is widely adopted due to its compact data form. However, RV-based methods fall short in providing robust segmentation for the occluded points and suffer from distortion of projected RGB…

Semantic segmentation of city-scale point clouds is a critical technology for Unmanned Aerial Vehicle (UAV) perception systems, enabling the classification of 3D points without relying on any visual information to achieve comprehensive 3D…

In this paper we address three different aspects of semantic segmentation from remote sensor data using deep neural networks. Firstly, we focus on the semantic segmentation of buildings from remote sensor data and propose ICT-Net. The…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

With the availability of many datasets tailored for autonomous driving in real-world urban scenes, semantic segmentation for urban driving scenes achieves significant progress. However, semantic segmentation for off-road, unstructured…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

In a real-world setting, object instances from new classes can be continuously encountered by object detectors. When existing object detectors are applied to such scenarios, their performance on old classes deteriorates significantly. A few…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…

We focus on the problem of class-agnostic instance segmentation of LiDAR point clouds. We propose an approach that combines graph-theoretic search with data-driven learning: it searches over a set of candidate segmentations and returns one…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

State-of-the-art approaches for the semantic labeling of LiDAR point clouds heavily rely on the use of deep Convolutional Neural Networks (CNNs). However, transferring network architectures across different LiDAR sensor types represents a…

Existing 3D instance segmentation methods typically assume that all semantic classes to be segmented would be available during training and only seen categories are segmented at inference. We argue that such a closed-world assumption is…

LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…

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…