相关论文: GeoSegNet: Point Cloud Semantic Segmentation via G…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…

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…

We present a deep learning framework for probabilistic pixel-wise semantic segmentation, which we term Bayesian SegNet. Semantic segmentation is an important tool for visual scene understanding and a meaningful measure of uncertainty is…

Point cloud is one of the widely used techniques for representing and storing 3D geometric data. In the past several methods have been proposed for processing point clouds. Methods such as PointNet and FoldingNet have shown promising…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

We present a novel and practical deep fully convolutional neural network architecture for semantic pixel-wise segmentation termed SegNet. This core trainable segmentation engine consists of an encoder network, a corresponding decoder…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…