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

3D semantic segmentation is a fundamental task for robotic and autonomous driving applications. Recent works have been focused on using deep learning techniques, whereas developing fine-annotated 3D LiDAR datasets is extremely labor…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Panoptic segmentation aims to address semantic and instance segmentation simultaneously in a unified framework. However, an efficient solution of panoptic segmentation in applications like autonomous driving is still an open research…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

The correct ego-motion estimation basically relies on the understanding of correspondences between adjacent LiDAR scans. However, given the complex scenarios and the low-resolution LiDAR, finding reliable structures for identifying…

We address the challenges of the semi-supervised LiDAR segmentation (SSLS) problem, particularly in low-budget scenarios. The two main issues in low-budget SSLS are the poor-quality pseudo-labels for unlabeled data, and the performance…

Semantic segmentation is one of the most fundamental problems in computer vision with significant impact on a wide variety of applications. Adversarial learning is shown to be an effective approach for improving semantic segmentation…

Semantic segmentation is a significant perception task in autonomous driving. It suffers from the risks of adversarial examples. In the past few years, deep learning has gradually transitioned from convolutional neural network (CNN) models…

Vision-centric semantic occupancy prediction plays a crucial role in autonomous driving, which requires accurate and reliable predictions from low-cost sensors. Although having notably narrowed the accuracy gap with LiDAR, there is still…

Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…

Semantic segmentation of SAR images has garnered significant attention in remote sensing due to the immunity of SAR sensors to cloudy weather and light conditions. Nevertheless, SAR imagery lacks detailed information and is plagued by…

With the advancement of computing resources, an increasing number of Neural Networks (NNs) are appearing for image detection and segmentation appear. However, these methods usually accept as input a RGB 2D image. On the other side, Light…

Global visual localization in LiDAR-maps, crucial for autonomous driving applications, remains largely unexplored due to the challenging issue of bridging the cross-modal heterogeneity gap. Popular multi-modal learning approach Contrastive…

The adversarial robustness of a model is its ability to resist adversarial attacks in the form of small perturbations to input data. Universal adversarial attack methods such as Fast Sign Gradient Method (FSGM) and Projected Gradient…

LiDAR-based semantic segmentation plays a vital role in autonomous driving by enabling detailed understanding of 3D environments. However, annotating LiDAR point clouds is extremely costly and requires assigning semantic labels to millions…

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…

Supervised deep learning performance is heavily tied to the availability of high-quality labels for training. Neural networks can gradually overfit corrupted labels if directly trained on noisy datasets, leading to severe performance…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Surgical data science has seen rapid advancement with the excellent performance of end-to-end deep neural networks (DNNs). Despite their successes, DNNs have been proven susceptible to minor "corruptions," introducing a major concern for…

The deployment of lightweight segmentation models on drones for autonomous power line inspection presents a critical challenge: maintaining reliable performance under real-world conditions that differ from training data. Although compact…