相关论文: Benchmarking the Robustness of LiDAR Semantic Segm…

Segment anything model (SAM) has presented impressive objectness identification capability with the idea of prompt learning and a new collected large-scale dataset. Given a prompt (e.g., points, bounding boxes, or masks) and an input image,…

When designing a semantic segmentation module for a practical application, such as autonomous driving, it is crucial to understand the robustness of the module with respect to a wide range of image corruptions. While there are recent…

Optical flow estimation is extensively used in autonomous driving and video editing. While existing models demonstrate state-of-the-art performance across various benchmarks, the robustness of these methods has been infrequently…

Deep learning (DL) models are widely used in real-world applications but remain vulnerable to distribution shifts, especially due to weather and lighting changes. Collecting diverse real-world data for testing the robustness of DL models is…

We introduce the MNIST-C dataset, a comprehensive suite of 15 corruptions applied to the MNIST test set, for benchmarking out-of-distribution robustness in computer vision. Through several experiments and visualizations we demonstrate that…

Human parsing aims to segment each pixel of the human image with fine-grained semantic categories. However, current human parsers trained with clean data are easily confused by numerous image corruptions such as blur and noise. To improve…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Intent Classification (IC) and Slot Labeling (SL) models, which form the basis of dialogue systems, often encounter noisy data in real-word environments. In this work, we investigate how robust IC/SL models are to noisy data. We collect and…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…

Joint embedding (JE) architectures have emerged as a promising avenue for acquiring transferable data representations. A key obstacle to using JE methods, however, is the inherent challenge of evaluating learned representations without…

Vision-language models (VLMs) have demonstrated impressive capabilities in understanding and reasoning about visual and textual content. However, their robustness to common image corruptions remains under-explored. In this work, we present…

Despite recent advancements in deep neural networks for point cloud recognition, real-world safety-critical applications present challenges due to unavoidable data corruption. Current models often fall short in generalizing to unforeseen…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

The costly and time-consuming annotation process to produce large training sets for modelling semantic LiDAR segmentation methods has motivated the development of semi-supervised learning (SSL) methods. However, such SSL approaches often…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

Semantic Image Segmentation facilitates a multitude of real-world applications ranging from autonomous driving over industrial process supervision to vision aids for human beings. These models are usually trained in a supervised fashion…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…