相关论文: LiDAL: Inter-frame Uncertainty Based Active Learni…

Active learning (AL) aims to select the most useful data samples from an unlabeled data pool and annotate them to expand the labeled dataset under a limited budget. Especially, uncertainty-based methods choose the most uncertain samples,…

We propose ViewAL, a novel active learning strategy for semantic segmentation that exploits viewpoint consistency in multi-view datasets. Our core idea is that inconsistencies in model predictions across viewpoints provide a very reliable…

Dense regression is a widely used approach in computer vision for tasks such as image super-resolution, enhancement, depth estimation, etc. However, the high cost of annotation and labeling makes it challenging to achieve accurate results.…

We propose a novel semi-supervised active learning (SSAL) framework for monocular 3D object detection with LiDAR guidance (MonoLiG), which leverages all modalities of collected data during model development. We utilize LiDAR to guide the…

Despite the success of deep learning on supervised point cloud semantic segmentation, obtaining large-scale point-by-point manual annotations is still a significant challenge. To reduce the huge annotation burden, we propose a Region-based…

Deep learning models for object detection in autonomous driving have recently achieved impressive performance gains and are already being deployed in vehicles worldwide. However, current models require increasingly large datasets for…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

While LiDAR data acquisition is easy, labeling for semantic segmentation remains highly time consuming and must therefore be done selectively. Active learning (AL) provides a solution that can iteratively and intelligently label a dataset…

LiDAR-based 3D panoptic segmentation often struggles with the inherent sparsity of data from LiDAR sensors, which makes it challenging to accurately recognize distant or small objects. Recently, a few studies have sought to overcome this…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

We present a robust real-time LiDAR 3D object detector that leverages heteroscedastic aleatoric uncertainties to significantly improve its detection performance. A multi-loss function is designed to incorporate uncertainty estimations…

Deep learning models frequently encounter feature uncertainty in diverse learning scenarios, significantly impacting their performance and reliability. This challenge is particularly complex in multi-modal scenarios, where models must…

This paper proposes SemCal: an automatic, targetless, extrinsic calibration algorithm for a LiDAR and camera system using semantic information. We leverage a neural information estimator to estimate the mutual information (MI) of semantic…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

LiDAR and 4D radar are widely used in autonomous driving and robotics. While LiDAR provides rich spatial information, 4D radar offers velocity measurement and remains robust under adverse conditions. As a result, increasing studies have…

Active learning algorithms have become increasingly popular for training models with limited data. However, selecting data for annotation remains a challenging problem due to the limited information available on unseen data. To address this…

Active learning has emerged as a promising approach to reduce the substantial annotation burden in 3D object detection tasks, spurring several initiatives in outdoor environments. However, its application in indoor environments remains…

Leveraging recent diffusion models, LiDAR-based large-scale 3D scene generation has achieved great success. While recent voxel-based approaches can generate both geometric structures and semantic labels, existing range-view methods are…

Active learning strives to reduce the need for costly data annotation, by repeatedly querying an annotator to label the most informative samples from a pool of unlabeled data, and then training a model from these samples. We identify two…