相关论文: VIBUS: Data-efficient 3D Scene Parsing with VIewpo…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

This paper presents a nonparametric scene parsing approach that improves the overall accuracy, as well as the coverage of foreground classes in scene images. We first improve the label likelihood estimates at superpixels by merging…

State-of-the-art techniques in weakly-supervised semantic segmentation (WSSS) using image-level labels exhibit severe performance degradation on driving scene datasets such as Cityscapes. To address this challenge, we develop a new WSSS…

Unsupervised image segmentation is a critical task in computer vision. It enables dense scene understanding without human annotations, which is especially valuable in domains where labelled data is scarce. However, existing methods often…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

3D segmentation is a core problem in computer vision and, similarly to many other dense prediction tasks, it requires large amounts of annotated data for adequate training. However, densely labeling 3D point clouds to employ…

Traditional 3D scene understanding approaches rely on labeled 3D datasets to train a model for a single task with supervision. We propose OpenScene, an alternative approach where a model predicts dense features for 3D scene points that are…

In this article, we investigate self-supervised 3D scene flow estimation and class-agnostic motion prediction on point clouds. A realistic scene can be well modeled as a collection of rigidly moving parts, therefore its scene flow can be…

Weakly supervised 3D object detection aims to learn a 3D detector with lower annotation cost, e.g., 2D labels. Unlike prior work which still relies on few accurate 3D annotations, we propose a framework to study how to leverage constraints…

Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments. However, such annotated datasets are also needed for…

Current LiDAR-based 3D object detectors for autonomous driving are almost entirely trained on human-annotated data collected in specific geographical domains with specific sensor setups, making it difficult to adapt to a different domain.…

The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…

Learning to build 3D scene graphs is essential for real-world perception in a structured and rich fashion. However, previous 3D scene graph generation methods utilize a fully supervised learning manner and require a large amount of…

This paper proposes a novel method of learning by predicting view assignments with support samples (PAWS). The method trains a model to minimize a consistency loss, which ensures that different views of the same unlabeled instance are…

As a powerful way of realizing semi-supervised segmentation, the cross supervision method learns cross consistency based on independent ensemble models using abundant unlabeled images. However, the wrong pseudo labeling information…

Open-vocabulary 3D scene understanding enables users to segment novel objects in complex 3D environments through natural language. However, existing approaches remain slow, memory-intensive, and overly complex due to iterative optimization…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Accurate prediction of 3D semantic occupancy from 2D visual images is vital in enabling autonomous agents to comprehend their surroundings for planning and navigation. State-of-the-art methods typically employ fully supervised approaches,…

Current 3D self-supervised learning methods of 3D scenes face a data desert issue, resulting from the time-consuming and expensive collecting process of 3D scene data. Conversely, 3D shape datasets are easier to collect. Despite this,…