相关论文: Walking Your LiDOG: A Journey Through Multiple Dom…

This work studies semantic segmentation using 3D LiDAR data. Popular deep learning methods applied for this task require a large number of manual annotations to train the parameters. We propose a new method that makes full use of the…

Domain generalization aims to find ways for deep learning models to maintain their performance despite significant domain shifts between training and inference datasets. This is particularly important for models that need to be robust or…

In recent years, cross-modal domain adaptation has been studied on the paired 2D image and 3D LiDAR data to ease the labeling costs for 3D LiDAR semantic segmentation (3DLSS) in the target domain. However, in such a setting the paired 2D…

Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…

Domain generalization (DG) aims to learn a model on one or more different but related source domains that could be generalized into an unseen target domain. Existing DG methods try to prompt the diversity of source domains for the model's…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

This paper investigates the impact of LiDAR configuration shifts on the performance of 3D LiDAR point cloud semantic segmentation models, a topic not extensively studied before. We explore the effect of using different LiDAR channels when…

Addressing Lidar Panoptic Segmentation (LPS ) is crucial for safe deployment of autonomous vehicles. LPS aims to recognize and segment lidar points w.r.t. a pre-defined vocabulary of semantic classes, including thing classes of countable…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Until open-world foundation models match the performance of specialized approaches, deep learning systems remain dependent on task- and sensor-specific data availability. To bridge the gap between available datasets and deployment domains,…

This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…

Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Domain adaptation for semantic image segmentation is very necessary since manually labeling large datasets with pixel-level labels is expensive and time consuming. Existing domain adaptation techniques either work on limited datasets, or…

Moving object segmentation (MOS) is a task to distinguish moving objects, e.g., moving vehicles and pedestrians, from the surrounding static environment. The segmentation accuracy of MOS can have an influence on odometry, map construction,…