相关论文: From CAD models to soft point cloud labels: An aut…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained…

Semantic segmentation of large-scale outdoor point clouds is essential for urban scene understanding in various applications, especially autonomous driving and urban high-definition (HD) mapping. With rapid developments of mobile laser…

Airborne Laser Scanning (ALS) point clouds have complex structures, and their 3D semantic labeling has been a challenging task. It has three problems: (1) the difficulty of classifying point clouds around boundaries of objects from…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

Existing state-of-the-art 3D instance segmentation methods perform semantic segmentation followed by grouping. The hard predictions are made when performing semantic segmentation such that each point is associated with a single class.…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Current state of the art methods for generating semantic segmentation rely heavily on a large set of images that have each pixel labeled with a class of interest label or background. Coming up with such labels, especially in domains that…

Semantic segmentation is a fundamental task in medical image analysis and autonomous driving and has a problem with the high cost of annotating the labels required in training. To address this problem, semantic segmentation methods based on…

Remote sensing image segmentation is crucial for environmental monitoring, disaster assessment, and resource management, but its performance largely depends on the quality of the dataset. Although several high-quality datasets are broadly…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Conventional point cloud semantic segmentation methods usually employ an encoder-decoder architecture, where mid-level features are locally aggregated to extract geometric information. However, the over-reliance on these class-agnostic…

The original ImageNet benchmark enforces a single-label assumption, despite many images depicting multiple objects. This leads to label noise and limits the richness of the learning signal. Multi-label annotations more accurately reflect…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

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…