相关论文: PUPS: Point Cloud Unified Panoptic Segmentation

3D instance segmentation is crucial for obtaining an understanding of a point cloud scene. This paper presents a novel neural network architecture for performing instance segmentation on 3D point clouds. We propose to jointly learn…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Textured meshes are becoming an increasingly popular representation combining the 3D geometry and radiometry of real scenes. However, semantic segmentation algorithms for urban mesh have been little investigated and do not exploit all…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

Instance segmentation is a challenging task aiming at classifying and segmenting all object instances of specific classes. While two-stage box-based methods achieve top performances in the image domain, they cannot easily extend their…

We propose a novel solution for the task of video panoptic segmentation, that simultaneously predicts pixel-level semantic and instance segmentation and generates clip-level instance tracks. Our network, named VPS-Transformer, with a hybrid…

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.…

Segmentation of plant point clouds to obtain high-precise morphological traits is essential for plant phenotyping. Although the fast development of deep learning has boosted much research on segmentation of plant point clouds, previous…

Instance segmentation is an important task for biomedical and biological image analysis. Due to the complicated background components, the high variability of object appearances, numerous overlapping objects, and ambiguous object…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

With the tide of artificial intelligence, we try to apply deep learning to understand 3D data. Point cloud is an important 3D data structure, which can accurately and directly reflect the real world. In this paper, we propose a simple and…

This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

In this work, we introduce the new scene understanding task of Part-aware Panoptic Segmentation (PPS), which aims to understand a scene at multiple levels of abstraction, and unifies the tasks of scene parsing and part parsing. For this…

An instance with a bad mask might make a composite image that uses it look fake. This encourages us to learn segmentation by generating realistic composite images. To achieve this, we propose a novel framework that exploits a new proposed…

We present a weakly supervised model that jointly performs both semantic- and instance-segmentation -- a particularly relevant problem given the substantial cost of obtaining pixel-perfect annotation for these tasks. In contrast to many…

In recent years, compact and efficient scene understanding representations have gained popularity in increasing situational awareness and autonomy of robotic systems. In this work, we illustrate the concept of a panoptic edge segmentation…