相关论文: Unsupervised 4D LiDAR Moving Object Segmentation i…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

We tackle the challenging task of unsupervised object localization in this work. Recently, transformers trained with self-supervised learning have been shown to exhibit object localization properties without being trained for this task. In…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Audio-Visual Segmentation (AVS) aims to identify, at the pixel level, the object in a visual scene that produces a given sound. Current AVS methods rely on costly fine-grained annotations of mask-audio pairs, making them impractical for…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

Embodied agents must detect and localize objects of interest, e.g. traffic participants for self-driving cars. Supervision in the form of bounding boxes for this task is extremely expensive. As such, prior work has looked at unsupervised…

Assigning consistent temporal identifiers to multiple moving objects in a video sequence is a challenging problem. A solution to that problem would have immediate ramifications in multiple object tracking and segmentation problems. We…

Multi-object tracking (MOT) is the task of estimating the state trajectories of an unknown and time-varying number of objects over a certain time window. Several algorithms have been proposed to tackle the multi-object smoothing task, where…

Unsupervised 3D object detection serves as an important solution for offline 3D object annotation. However, due to the data sparsity and limited views, the clustering-based label fitting in unsupervised object detection often generates…

Data-driven approaches to assist operating room (OR) workflow analysis depend on large curated datasets that are time consuming and expensive to collect. On the other hand, we see a recent paradigm shift from supervised learning to…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Accurate static structure reconstruction and segmentation of non-stationary objects is of vital importance for autonomous navigation applications. These applications assume a LiDAR scan to consist of only static structures. In the real…

Multi-Object Tracking (MOT) has gained extensive attention in recent years due to its potential applications in traffic and pedestrian detection. We note that tracking by detection may suffer from errors generated by noise detectors, such…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

In this paper, we study a new representation-learning task, which we termed as disassembling object representations. Given an image featuring multiple objects, the goal of disassembling is to acquire a latent representation, of which each…

Video object segmentation (VOS) aims at segmenting a particular object throughout the entire video clip sequence. The state-of-the-art VOS methods have achieved excellent performance (e.g., 90+% J&F) on existing datasets. However, since the…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Unsupervised domain adaptation (UDA) has been a potent technique to handle the lack of annotations in the target domain, particularly in semantic segmentation task. This study introduces a different UDA scenarios where the target domain…