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

Research in 3D semantic segmentation has been increasing performance metrics, like the IoU, by scaling model complexity and computational resources, leaving behind researchers and practitioners that (1) cannot access the necessary resources…

Point cloud data labeling is considered a time-consuming and expensive task in autonomous driving, whereas annotation-free learning training can avoid it by learning point cloud representations from unannotated data. In this paper, we…

3D object detection has become indispensable in the field of autonomous driving. To date, gratifying breakthroughs have been recorded in 3D object detection research, attributed to deep learning. However, deep learning algorithms are…

Reliance on vast annotations to achieve leading performance severely restricts the practicality of large-scale point cloud semantic segmentation. For the purpose of reducing data annotation costs, effective labeling schemes are developed…

While current 3D object recognition research mostly focuses on the real-time, onboard scenario, there are many offboard use cases of perception that are largely under-explored, such as using machines to automatically generate high-quality…

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Monocular 3D object detection is a challenging task in the self-driving and computer vision community. As a common practice, most previous works use manually annotated 3D box labels, where the annotating process is expensive. In this paper,…

Point clouds and high-resolution 3D data have become increasingly important in various fields, including surveying, construction, and virtual reality. However, simply having this data is not enough; to extract useful information, semantic…

Annotating lidar point clouds for autonomous driving is a notoriously expensive and time-consuming task. In this work, we show that the quality of recent self-supervised lidar scan representations allows a great reduction of the annotation…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Utilizing uniformly distributed sparse annotations, weakly supervised learning alleviates the heavy reliance on fine-grained annotations in point cloud semantic segmentation tasks. However, few works discuss the inhomogeneity of sparse…

Automatic pseudo-labeling is a powerful tool to tap into large amounts of sequential unlabeled data. It is specially appealing in safety-critical applications of autonomous driving, where performance requirements are extreme, datasets are…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

Reducing the quantity of annotations required for supervised training is vital when labels are scarce and costly. This reduction is particularly important for semantic segmentation tasks involving 3D datasets, which are often significantly…

In the domain of supervised scene flow estimation, the process of manual labeling is both time-intensive and financially demanding. This paper introduces SSFlowNet, a semi-supervised approach for scene flow estimation, that utilizes a blend…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…