相关论文: OGC: Unsupervised 3D Object Segmentation from Rigi…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

The objective of this paper is a model that is able to discover, track and segment multiple moving objects in a video. We make four contributions: First, we introduce an object-centric segmentation model with a depth-ordered layer…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of…

We propose SegVec3D, a novel framework for 3D point cloud instance segmentation that integrates attention mechanisms, embedding learning, and cross-modal alignment. The approach builds a hierarchical feature extractor to enhance geometric…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

We introduce EvObj for unsupervised 3D instance segmentation that bridges the geometric domain gap between synthetic pretraining data and real-world point clouds. Current methods suffer from structural discrepancies when transferring object…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

We study inferring 3D object-centric scene representations from a single image. While recent methods have shown potential in unsupervised 3D object discovery from simple synthetic images, they fail to generalize to real-world scenes with…

In this thesis we discuss architectural designs and training methods for a neural network to have the ability of dissecting an image into objects of interest without supervision. The main challenge in 2D unsupervised object segmentation is…

Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly from a sequence of observed point clouds of a single…

3D object detection often involves complicated training and testing pipelines, which require substantial domain knowledge about individual datasets. Inspired by recent non-maximum suppression-free 2D object detection models, we propose a 3D…

Object segmentation in infant's egocentric videos is a fundamental step in studying how children perceive objects in early stages of development. From the computer vision perspective, object segmentation in such videos pose quite a few…

The goal of this paper is to discover, segment, and track independently moving objects in complex visual scenes. Previous approaches have explored the use of optical flow for motion segmentation, leading to imperfect predictions due to…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

Manual annotation of large-scale point cloud dataset for varying tasks such as 3D object classification, segmentation and detection is often laborious owing to the irregular structure of point clouds. Self-supervised learning, which…

At present, the anchor-based or anchor-free models that use LiDAR point clouds for 3D object detection use the center assigner strategy to infer the 3D bounding boxes. However, in a real world scene, the LiDAR can only acquire a limited…

Current 3D instance segmentation models generally use multi-stage methods to extract instance objects, including clustering, feature extraction, and post-processing processes. However, these multi-stage approaches rely on hyperparameter…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…