相关论文: Gaussian Radar Transformer for Semantic Segmentati…

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Semantic segmentation is a powerful method to facilitate visual scene understanding. Each pixel is assigned a label according to a pre-defined list of object classes and semantic entities. This becomes very useful as a means to summarize…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

Recently, 3D Gaussian, as an explicit 3D representation method, has demonstrated strong competitiveness over NeRF (Neural Radiance Fields) in terms of expressing complex scenes and training duration. These advantages signal a wide range of…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Robust and accurate perception of dynamic objects and map elements is crucial for autonomous vehicles performing safe navigation in complex traffic scenarios. While vision-only methods have become the de facto standard due to their…

One of the fundamental challenges in the design of perception systems for autonomous vehicles is validating the performance of each algorithm under a comprehensive variety of operating conditions. In the case of vision-based semantic…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Recent advancements in 3D reconstruction methods and vision-language models have propelled the development of multi-modal 3D scene understanding, which has vital applications in robotics, autonomous driving, and virtual/augmented reality.…

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…

3D Gaussian Splatting offers expressive scene reconstruction, modeling a broad range of visual, geometric, and semantic information. However, efficient real-time map reconstruction with data streamed from multiple robots and devices remains…

Recent advances in vision foundation models, such as the Segment Anything Model (SAM) and its successor SAM2, have achieved state-of-the-art performance on general image segmentation benchmarks. However, these models struggle in adverse…

Semantic segmentation and change detection are two fundamental challenges in remote sensing, requiring models to capture either spatial semantics or temporal differences from satellite imagery. Existing deep learning models often struggle…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

Deep neural networks, especially transformer-based architectures, have achieved remarkable success in semantic segmentation for environmental perception. However, existing models process video frames independently, thus failing to leverage…