相关论文: A Review of Panoptic Segmentation for Mobile Mappi…

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present…

Panoptic segmentation is a complex full scene parsing task requiring simultaneous instance and semantic segmentation at high resolution. Current state-of-the-art approaches cannot run in real-time, and simplifying these architectures to…

Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

In this work, we introduce Panoptic-DeepLab, a simple, strong, and fast system for panoptic segmentation, aiming to establish a solid baseline for bottom-up methods that can achieve comparable performance of two-stage methods while yielding…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

3D point cloud segmentation has made tremendous progress in recent years. Most current methods focus on aggregating local features, but fail to directly model long-range dependencies. In this paper, we propose Stratified Transformer that is…

Following considerable development in 3D scanning technologies, many studies have recently been proposed with various approaches for 3D vision tasks, including some methods that utilize 2D convolutional neural networks (CNNs). However, even…

From the autonomous car driving to medical diagnosis, the requirement of the task of image segmentation is everywhere. Segmentation of an image is one of the indispensable tasks in computer vision. This task is comparatively complicated…

This paper presents a unified framework for depth-aware panoptic segmentation (DPS), which aims to reconstruct 3D scene with instance-level semantics from one single image. Prior works address this problem by simply adding a dense depth…

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 scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Point cloud segmentation is crucial for robotic visual perception and environmental understanding, enabling applications such as robotic navigation and 3D reconstruction. However, handling the sparse and unordered nature of point cloud data…

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…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

In this work, we introduce the new scene understanding task of Part-aware Panoptic Segmentation (PPS), which aims to understand a scene at multiple levels of abstraction, and unifies the tasks of scene parsing and part parsing. For this…