相关论文: InsMOS: Instance-Aware Moving Object Segmentation …

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Independently exploring unknown spaces or finding objects in an indoor environment is a daily but challenging task for visually impaired people. However, common 2D assistive systems lack depth relationships between various objects,…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

Interactive segmentation has an important role in facilitating the annotation process of future LiDAR datasets. Existing approaches sequentially segment individual objects at each LiDAR scan, repeating the process throughout the entire…

Multi-modal systems have the capacity of producing more reliable results than systems with a single modality in road detection due to perceiving different aspects of the scene. We focus on using raw sensor inputs instead of, as it is…

Accurate motion understanding of the dynamic objects within the scene in bird's-eye-view (BEV) is critical to ensure a reliable obstacle avoidance system and smooth path planning for autonomous vehicles. However, this task has received…

Place Recognition enables the estimation of a globally consistent map and trajectory by providing non-local constraints in Simultaneous Localisation and Mapping (SLAM). This paper presents Locus, a novel place recognition method using 3D…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

Multiple object tracking (MOT) is a crucial task in computer vision society. However, most tracking-by-detection MOT methods, with available detected bounding boxes, cannot effectively handle static, slow-moving and fast-moving camera…

Inspired by recent advances of deep learning in instance segmentation and object tracking, we introduce video object segmentation problem as a concept of guided instance segmentation. Our model proceeds on a per-frame basis, guided by the…

Moving object segmentation is a crucial task for autonomous vehicles as it can be used to segment objects in a class agnostic manner based on their motion cues. It enables the detection of unseen objects during training (e.g., moose or a…

This paper presents a model-free, setting-independent method for online detection of dynamic objects in 3D lidar data. We explicitly compensate for the moving-while-scanning operation (motion distortion) of present-day 3D spinning lidar…

Exploring dense matching between the current frame and past frames for long-range context modeling, memory-based methods have demonstrated impressive results in video object segmentation (VOS) recently. Nevertheless, due to the lack of…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…

We present a method to perform online Multiple Object Tracking (MOT) of known object categories in monocular video data. Current Tracking-by-Detection MOT approaches build on top of 2D bounding box detections. In contrast, we exploit…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…