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

During the last few years, continual learning (CL) strategies for image classification and segmentation have been widely investigated designing innovative solutions to tackle catastrophic forgetting, like knowledge distillation and…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Existing LiDAR semantic segmentation methods often struggle with performance declines in adverse weather conditions. Previous work has addressed this issue by simulating adverse weather or employing universal data augmentation during…

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,…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

LiDAR-based roadside perception is a cornerstone of advanced Intelligent Transportation Systems (ITS). While considerable research has addressed optimal LiDAR placement for infrastructure, the profound impact of differing LiDAR scanning…

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…

It is crucial to understand the robustness of text detection models with regard to extensive corruptions, since scene text detection techniques have many practical applications. For systematically exploring this problem, we propose two…

Despite the remarkable reasoning abilities of large vision-language models (LVLMs), their robustness under visual corruptions remains insufficiently studied. Existing evaluation paradigms exhibit two major limitations: 1) the dominance of…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…

Semantic communications have gained significant attention as a promising approach to address the transmission bottleneck, especially with the continuous development of 6G techniques. Distinct from the well investigated physical channel…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…

Precise situational awareness is required for the safe decision-making of assisted and automated driving (AAD) functions. Panoptic segmentation is a promising perception technique to identify and categorise objects, impending hazards, and…

We study the use of image-based Vision-Language Models (VLMs) for open-vocabulary segmentation of lidar scans in driving settings. Classically, image semantics can be back-projected onto 3D point clouds. Yet, resulting point labels are…

Point-, voxel-, and range-views are three representative forms of point clouds. All of them have accurate 3D measurements but lack color and texture information. RGB images are a natural complement to these point cloud views and fully…

Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…