相关论文: Domain generalization of 3D semantic segmentation …

Deep learning models for medical image analysis easily suffer from distribution shifts caused by dataset artifacts bias, camera variations, differences in the imaging station, etc., leading to unreliable diagnoses in real-world clinical…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Recent advances in 3D object detection leveraging multi-view cameras have demonstrated their practical and economical value in various challenging vision tasks. However, typical supervised learning approaches face challenges in achieving…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

This technical report represents the award-winning solution to the Cross-platform 3D Object Detection task in the RoboSense2025 Challenge. Our approach is built upon PVRCNN++, an efficient 3D object detection framework that effectively…

LiDAR Semantic Segmentation is a fundamental task in autonomous driving perception consisting of associating each LiDAR point to a semantic label. Fully-supervised models have widely tackled this task, but they require labels for each scan,…

When deploying deep learning technology in self-driving cars, deep neural networks are constantly exposed to domain shifts. These include, e.g., changes in weather conditions, time of day, and long-term temporal shift. In this work we…

LiDAR semantic segmentation for autonomous driving has been a growing field of interest in recent years. Datasets and methods have appeared and expanded very quickly, but methods have not been updated to exploit this new data availability…

The lack of generalization in learning-based autonomous driving applications is shown by the narrow range of road scenarios that vehicles can currently cover. A generalizable approach should capture many distinct road structures and…

In recent years, the concept of artificial intelligence (AI) has become a prominent keyword because it is promising in solving complex tasks. The need for human expertise in specific areas may no longer be needed because machines have…

State-of-the-art 3D semantic segmentation models are trained on off-the-shelf public benchmarks, but they will inevitably face the challenge of recognition accuracy drop when these well-trained models are deployed to a new domain. In this…

Domain adaptation for Cross-LiDAR 3D detection is challenging due to the large gap on the raw data representation with disparate point densities and point arrangements. By exploring domain-invariant 3D geometric characteristics and motion…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

3D LiDAR semantic segmentation is fundamental for autonomous driving. Several Unsupervised Domain Adaptation (UDA) methods for point cloud data have been recently proposed to improve model generalization for different sensors and…

Unsupervised domain adaptation (UDA) is an important topic in the computer vision community. The key difficulty lies in defining a common property between the source and target domains so that the source-domain features can align with the…

Simultaneous localization and mapping (SLAM) is a fundamental capability required by most autonomous systems. In this paper, we address the problem of loop closing for SLAM based on 3D laser scans recorded by autonomous cars. Our approach…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

Most of the recent Deep Semantic Segmentation algorithms suffer from large generalization errors, even when powerful hierarchical representation models based on convolutional neural networks have been employed. This could be attributed to…