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

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

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…

Densely annotating LiDAR point clouds remains too expensive and time-consuming to keep up with the ever growing volume of data. While current literature focuses on fully-supervised performance, developing efficient methods that take…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

This paper presents a novel weakly supervised semantic segmentation method for radar segmentation, where the existing LiDAR semantic segmentation models are employed to generate semantic labels, which then serve as supervision signals for…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Tracking underwater autonomous platforms is often difficult because of noisy, biased, and discretized input data. Classic filters and smoothers based on standard assumptions of Gaussian white noise break down when presented with any of…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

As Automatic Speech Recognition (ASR) models become ever more pervasive, it is important to ensure that they make reliable predictions under corruptions present in the physical and digital world. We propose Speech Robust Bench (SRB), a…

Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to lacking distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package…

We present semantic segmentation experiments with a model capable to perform predictions on four benchmark datasets: Cityscapes, ScanNet, WildDash and KITTI. We employ a ladder-style convolutional architecture featuring a modified…

The reliability of segmentation models in the medical domain depends on the model's robustness to perturbations in the input space. Robustness is a particular challenge in medical imaging exhibiting various sources of image noise,…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

This work proposes a new method to accurately complete sparse LiDAR maps guided by RGB images. For autonomous vehicles and robotics the use of LiDAR is indispensable in order to achieve precise depth predictions. A multitude of applications…

Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…

A thorough and holistic scene understanding is crucial for autonomous vehicles, where LiDAR semantic segmentation plays an indispensable role. However, most existing methods focus on the network design while neglecting the inherent…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

Text-image composed retrieval aims to retrieve the target image through the composed query, which is specified in the form of an image plus some text that describes desired modifications to the input image. It has recently attracted…

The existence of real-world adversarial examples (commonly in the form of patches) poses a serious threat for the use of deep learning models in safety-critical computer vision tasks such as visual perception in autonomous driving. This…

Road crack segmentation is critical for robotic systems tasked with the inspection, maintenance, and monitoring of road infrastructures. Existing deep learning-based methods for crack segmentation are typically trained on specific datasets,…