相关论文: CasFusionNet: A Cascaded Network for Point Cloud S…

Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…

Semantic scene completion aims to infer the 3D geometric structures with semantic classes from camera or LiDAR, which provide essential occupancy information in autonomous driving. Prior endeavors concentrate on constructing the network or…

Semantic Scene Completion (SSC) aims to jointly infer semantics and occupancies of 3D scenes. Truncated Signed Distance Function (TSDF), a 3D encoding of depth, has been a common input for SSC. Furthermore, RGB-TSDF fusion, seems promising…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

The task of point cloud completion aims to predict the missing part for an incomplete 3D shape. A widely used strategy is to generate a complete point cloud from the incomplete one. However, the unordered nature of point clouds will degrade…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

Point cloud sampling plays a crucial role in reducing computation costs and storage requirements for various vision tasks. Traditional sampling methods, such as farthest point sampling, lack task-specific information and, as a result,…

The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as autonomous driving. Hence, accurate delineation of the…

Camera-based Semantic Scene Completion (SSC) is gaining attentions in the 3D perception field. However, properties such as perspective and occlusion lead to the underestimation of the geometry in distant regions, posing a critical issue for…

Ever more robust, accurate and detailed mapping using visual sensing has proven to be an enabling factor for mobile robots across a wide variety of applications. For the next level of robot intelligence and intuitive user interaction, maps…

Camera-based 3D semantic scene completion (SSC) provides dense geometric and semantic perception for autonomous driving. However, images provide limited information making the model susceptible to geometric ambiguity caused by occlusion and…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

MonoScene proposes a 3D Semantic Scene Completion (SSC) framework, where the dense geometry and semantics of a scene are inferred from a single monocular RGB image. Different from the SSC literature, relying on 2.5 or 3D input, we solve the…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

Real-time semantic segmentation plays a significant role in industry applications, such as autonomous driving, robotics and so on. It is a challenging task as both efficiency and performance need to be considered simultaneously. To address…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Self-attention mechanism recently achieves impressive advancement in Natural Language Processing (NLP) and Image Processing domains. And its permutation invariance property makes it ideally suitable for point cloud processing. Inspired by…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…