相关论文: ElC-OIS: Ellipsoidal Clustering for Open-World Ins…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Online object segmentation and tracking in Lidar point clouds enables autonomous agents to understand their surroundings and make safe decisions. Unfortunately, manual annotations for these tasks are prohibitively costly. We tackle this…

Interactive segmentation aims to accurately segment target objects with minimal user interactions. However, current methods often fail to accurately separate target objects from the background, due to a limited understanding of order, the…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

This paper addresses category-agnostic instance segmentation for robotic manipulation, focusing on segmenting objects independent of their class to enable versatile applications like bin-picking in dynamic environments. Existing methods…

Autonomous vehicles that navigate in open-world environments may encounter previously unseen object classes. However, most existing LiDAR panoptic segmentation models rely on closed-set assumptions, failing to detect unknown object…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Panoptic segmentation of LiDAR point clouds is fundamental to outdoor scene understanding, with autonomous driving being a primary application. While state-of-the-art approaches typically rely on end-to-end deep learning architectures and…

In this paper, we propose a method for coarse camera pose computation which is robust to viewing conditions and does not require a detailed model of the scene. This method meets the growing need of easy deployment of robotics or augmented…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Instance segmentation on point clouds is a fundamental task in 3D scene perception. In this work, we propose a concise clustering-based framework named HAIS, which makes full use of spatial relation of points and point sets. Considering…

Existing 3D instance segmentation methods frequently encounter issues with over-segmentation, leading to redundant and inaccurate 3D proposals that complicate downstream tasks. This challenge arises from their unsupervised merging approach,…

Instance segmentation is essential for numerous computer vision applications, including robotics, human-computer interaction, and autonomous driving. Currently, popular models bring impressive performance in instance segmentation by…

Can our video understanding systems perceive objects when a heavy occlusion exists in a scene? To answer this question, we collect a large-scale dataset called OVIS for occluded video instance segmentation, that is, to simultaneously…

This paper introduces a new problem in 3D point cloud: few-shot instance segmentation. Given a few annotated point clouds exemplified a target class, our goal is to segment all instances of this target class in a query point cloud. This…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

Instance segmentation aims to delineate each individual object of interest in an image. State-of-the-art approaches achieve this goal by either partitioning semantic segmentations or refining coarse representations of detected objects. In…

Deep learning has significantly improved the precision of instance segmentation with abundant labeled data. However, in many areas like medical and manufacturing, collecting sufficient data is extremely hard and labeling this data requires…