相关论文: Semantic 3D scene segmentation for robotic assembl…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

We study the task of weakly-supervised point cloud semantic segmentation with sparse annotations (e.g., less than 0.1% points are labeled), aiming to reduce the expensive cost of dense annotations. Unfortunately, with extremely sparse…

We investigate transductive zero-shot point cloud semantic segmentation, where the network is trained on seen objects and able to segment unseen objects. The 3D geometric elements are essential cues to imply a novel 3D object type. However,…

We present the Semantic Robot Programming (SRP) paradigm as a convergence of robot programming by demonstration and semantic mapping. In SRP, a user can directly program a robot manipulator by demonstrating a snapshot of their intended goal…

To endow machines with the ability to perceive the real-world in a three dimensional representation as we do as humans is a fundamental and long-standing topic in Artificial Intelligence. Given different types of visual inputs such as…

Self-supervised learning has emerged as a promising approach for acquiring transferable 3D representations from unlabeled 3D point clouds. Unlike 2D images, which are widely accessible, acquiring 3D assets requires specialized expertise or…

Robotic tasks such as planning and navigation require a hierarchical semantic understanding of a scene, which could include multiple floors and rooms. Current methods primarily focus on object segmentation for 3D scene understanding.…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

In this work, we address the challenging task of few-shot and zero-shot 3D point cloud semantic segmentation. The success of few-shot semantic segmentation in 2D computer vision is mainly driven by the pre-training on large-scale datasets…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Robot perception systems need to perform reliable image segmentation in real-time on noisy, raw perception data. State-of-the-art segmentation approaches use large CNN models and carefully constructed datasets; however, these models focus…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

Interpreting camera data is key for autonomously acting systems, such as autonomous vehicles. Vision systems that operate in real-world environments must be able to understand their surroundings and need the ability to deal with novel…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which…