相关论文: Depth- and Semantics-aware Multi-modal Domain Tran…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Diffusion models are generative models with impressive text-to-image synthesis capabilities and have spurred a new wave of creative methods for classical machine learning tasks. However, the best way to harness the perceptual knowledge of…

The majority of learning-based semantic segmentation methods are optimized for daytime scenarios and favorable lighting conditions. Real-world driving scenarios, however, entail adverse environmental conditions such as nighttime…

Image-to-image translation tasks have been widely investigated with Generative Adversarial Networks (GANs) and dual learning. However, existing models lack the ability to control the translated results in the target domain and their results…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

In this paper, we introduce SalsaNext for the uncertainty-aware semantic segmentation of a full 3D LiDAR point cloud in real-time. SalsaNext is the next version of SalsaNet [1] which has an encoder-decoder architecture where the encoder…

For semantic-guided cross-view image translation, it is crucial to learn where to sample pixels from the source view image and where to reallocate them guided by the target view semantic map, especially when there is little overlap or…

Recent advances of image-to-image translation focus on learning the one-to-many mapping from two aspects: multi-modal translation and multi-domain translation. However, the existing methods only consider one of the two perspectives, which…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Semantic segmentation of point clouds is a key component of scene understanding for robotics and autonomous driving. In this paper, we introduce TORNADO-Net - a neural network for 3D LiDAR point cloud semantic segmentation. We incorporate a…

To navigate through urban roads, an automated vehicle must be able to perceive and recognize objects in a three-dimensional environment. A high-level contextual understanding of the surroundings is necessary to plan and execute accurate…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Recent advances in Vision Transformers (ViTs) have significantly advanced semantic segmentation performance. However, their adaptation to new target domains remains challenged by distribution shifts, which often disrupt global attention…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

Text-to-image synthesis (T2I) aims to generate photo-realistic images which are semantically consistent with the text descriptions. Existing methods are usually built upon conditional generative adversarial networks (GANs) and initialize an…

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…

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…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

Generative adversarial networks have led to significant advances in cross-modal/domain translation. However, typically these networks are designed for a specific task (e.g., dialogue generation or image synthesis, but not both). We present…