相关论文: CENet: Toward Concise and Efficient LiDAR Semantic…

Semantic segmentation is pixel-wise classification which retains critical spatial information. The "feature map reuse" has been commonly adopted in CNN based approaches to take advantage of feature maps in the early layers for the later…

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…

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…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Semantic segmentation stands as a pivotal research focus in computer vision. In the context of industrial image inspection, conventional semantic segmentation models fail to maintain the segmentation consistency of fixed components across…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

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…

Road scene understanding is a critical component in an autonomous driving system. Although the deep learning-based road scene segmentation can achieve very high accuracy, its complexity is also very high for developing real-time…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

With the rapid evolution of autonomous driving technology and intelligent transportation systems, semantic segmentation has become increasingly critical. Precise interpretation and analysis of real-world environments are indispensable for…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since…

Holistic scene understanding is pivotal for the performance of autonomous machines. In this paper we propose a new end-to-end model for performing semantic segmentation and depth completion jointly. The vast majority of recent approaches…

Autonomous driving is a challenging topic that requires complex solutions in perception tasks such as recognition of road, lanes, traffic signs or lights, vehicles and pedestrians. Through years of research, computer vision has grown…

Semantic segmentation and semantic edge detection can be seen as two dual problems with close relationships in computer vision. Despite the fast evolution of learning-based 3D semantic segmentation methods, little attention has been drawn…

Recent work has shown that convolutional neural networks (CNNs) can be applied successfully in disparity estimation, but these methods still suffer from errors in regions of low-texture, occlusions and reflections. Concurrently, deep…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…