相关论文: TransUPR: A Transformer-based Uncertain Point Refi…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Computed Tomography (CT) based precise prostate segmentation for treatment planning is challenging due to (1) the unclear boundary of the prostate derived from CT's poor soft tissue contrast and (2) the limitation of convolutional neural…

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…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

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…

We present a lightweight post-processing method to refine the semantic segmentation results of point cloud sequences. Most existing methods usually segment frame by frame and encounter the inherent ambiguity of the problem: based on a…

We propose and evaluate a neural point-based graphics method that can model semi-transparent scene parts. Similarly to its predecessor pipeline, ours uses point clouds to model proxy geometry, and augments each point with a neural…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum…

Segmentation of the fetal brain from stacks of motion-corrupted fetal MRI slices is important for motion correction and high-resolution volume reconstruction. Although Convolutional Neural Networks (CNNs) have been widely used for automatic…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Semantic segmentation of remotely sensed urban scene images is required in a wide range of practical applications, such as land cover mapping, urban change detection, environmental protection, and economic assessment.Driven by rapid…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

Automatic 3D reconstruction of indoor spaces from 2D floor plans necessitates high-precision semantic segmentation of structural elements, particularly walls. However, existing methods often struggle with detecting thin structures and…