相关论文: 3D Semantic Segmentation in the Wild: Learning Gen…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

The segmentation of individual trees from forest point clouds is a crucial task for downstream analyses such as carbon sequestration estimation. Recently, deep-learning-based methods have been proposed which show the potential of learning…

Recent research efforts on 3D point cloud semantic segmentation (PCSS) have achieved outstanding performance by adopting neural networks. However, the robustness of these complex models have not been systematically analyzed. Given that PCSS…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

We address the problem of unsupervised semantic segmentation of outdoor LiDAR point clouds in diverse traffic scenarios. The key idea is to leverage the spatiotemporal nature of a dynamic point cloud sequence and introduce drastically…

Point cloud scene flow estimation is of practical importance for dynamic scene navigation in autonomous driving. Since scene flow labels are hard to obtain, current methods train their models on synthetic data and transfer them to real…

Semantic segmentation has achieved significant advances in recent years. While deep neural networks perform semantic segmentation well, their success rely on pixel level supervision which is expensive and time-consuming. Further, training…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

3D scene understanding has become an essential area of research with applications in autonomous driving, robotics, and augmented reality. Recently, 3D Gaussian Splatting (3DGS) has emerged as a powerful approach, combining explicit modeling…

High-level autonomous operations depend on a robot's ability to construct a sufficiently expressive model of its environment. Traditional three-dimensional (3D) scene representations, such as point clouds and occupancy grids, provide…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Recently, the fundamental problem of unsupervised domain adaptation (UDA) on 3D point clouds has been motivated by a wide variety of applications in robotics, virtual reality, and scene understanding, to name a few. The point cloud data…

Segment Anything Model (SAM) has gained considerable interest in recent times for its remarkable performance and has emerged as a foundational model in computer vision. It has been integrated in diverse downstream tasks, showcasing its…

We introduce a new outdoor urban 3D pointcloud dataset, covering a total area of 2.7 $km^2$, sampled from three Swiss cities with different characteristics. The dataset is manually annotated for semantic segmentation with per-point labels,…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…