相关论文: A Near Sensor Edge Computing System for Point Clou…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

While nowadays deep neural networks achieve impressive performances on semantic segmentation tasks, they are usually trained by optimizing pixel-wise losses such as cross-entropy. As a result, the predictions outputted by such networks…

The ability to perform pixel-wise semantic segmentation in real-time is of paramount importance in mobile applications. Recent deep neural networks aimed at this task have the disadvantage of requiring a large number of floating point…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

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…

Semantic segmentation is one of the most fundamental problems in computer vision with significant impact on a wide variety of applications. Adversarial learning is shown to be an effective approach for improving semantic segmentation…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

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…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

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…

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

The recent years have witnessed great advances for semantic segmentation using deep convolutional neural networks (DCNNs). However, a large number of convolutional layers and feature channels lead to semantic segmentation as a…

We propose a highly structured neural network architecture for semantic segmentation with an extremely small model size, suitable for low-power embedded and mobile platforms. Specifically, our architecture combines i) a Haar wavelet-based…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…