相关论文: Collaborative Propagation on Multiple Instance Gra…

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Weakly-supervised instance segmentation (WSIS) has been considered as a more challenging task than weakly-supervised semantic segmentation (WSSS). Compared to WSSS, WSIS requires instance-wise localization, which is difficult to extract…

Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

Unsupervised instance segmentation aims to segment distinct object instances in an image without relying on human-labeled data. This field has recently seen significant advancements, partly due to the strong local correspondences afforded…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

Recently, increasing efforts have been focused on Weakly Supervised Scene Graph Generation (WSSGG). The mainstream solution for WSSGG typically follows the same pipeline: they first align text entities in the weak image-level supervisions…

Point cloud segmentation is the foundation of 3D environmental perception for modern intelligent systems. To solve this problem and image segmentation, conditional random fields (CRFs) are usually formulated as discrete models in label…

Labelling point clouds fully is highly time-consuming and costly. As larger point cloud datasets with billions of points become more common, we ask whether the full annotation is even necessary, demonstrating that existing baselines…

This paper presents a novel approach to range-based cooperative localization for robot swarms in GPS-denied environments, addressing the limitations of current methods in noisy and sparse settings. We propose a robust multi-layered…

Pixel-wise clean annotation is necessary for fully-supervised semantic segmentation, which is laborious and expensive to obtain. In this paper, we propose a weakly supervised 2D semantic segmentation model by incorporating sparse bounding…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

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…

Image segmentation is a vital task for providing human assistance and enhancing autonomy in our daily lives. In particular, RGB-D segmentation-leveraging both visual and depth cues-has attracted increasing attention as it promises richer…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

Scene coordinate regression (SCR) methods are a family of visual localization methods that directly regress 2D-3D matches for camera pose estimation. They are effective in small-scale scenes but face significant challenges in large-scale…

Weakly supervised instance segmentation (WSIS) using only image-level labels is a challenging task due to the difficulty of aligning coarse annotations with the finer task. However, with the advancement of deep neural networks (DNNs), WSIS…

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…