相关论文: FreePoint: Unsupervised Point Cloud Instance Segme…

In recent years, instance segmentation has garnered significant attention across various applications. However, training a fully-supervised instance segmentation model requires costly both instance-level and pixel-level annotations. In…

This work addresses the task of instance-aware semantic segmentation. Our key motivation is to design a simple method with a new modelling-paradigm, which therefore has a different trade-off between advantages and disadvantages compared to…

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…

Outdoor LiDAR point cloud 3D instance segmentation is a crucial task in autonomous driving. However, it requires laborious human efforts to annotate the point cloud for training a segmentation model. To address this challenge, we propose a…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud "3D object" dataset by using part contrasting and object…

Instance segmentation is essential for applications such as automated monitoring of plant health, growth, and yield. However, extensive effort is required to create large-scale datasets with pixel-level annotations of each object instance…

Automatic discovery of category-specific 3D keypoints from a collection of objects of some category is a challenging problem. One reason is that not all objects in a category necessarily have the same semantic parts. The level of difficulty…

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…

Collecting image annotations remains a significant burden when deploying CNN in a specific applicative context. This is especially the case when the annotation consists in binary masks covering object instances. Our work proposes to…

The availability of highly accurate urban airborne laser scanning (ALS) data will increase rapidly in the future, especially as acquisition costs decrease, for example through the use of drones. Current challenges in data processing are…

A significant bottleneck in training deep networks for part segmentation is the cost of obtaining detailed annotations. We propose a framework to exploit coarse labels such as figure-ground masks and keypoint locations that are readily…

This paper tries to address a fundamental question in point cloud self-supervised learning: what is a good signal we should leverage to learn features from point clouds without annotations? To answer that, we introduce a point cloud…

Interactive 3D point cloud segmentation enables efficient annotation of complex 3D scenes through user-guided prompts. However, current approaches are typically restricted in scope to a single domain (indoor or outdoor), and to a single…

We introduce WyPR, a Weakly-supervised framework for Point cloud Recognition, requiring only scene-level class tags as supervision. WyPR jointly addresses three core 3D recognition tasks: point-level semantic segmentation, 3D proposal…

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

Unsupervised object discovery aims to localize objects in images, while removing the dependence on annotations required by most deep learning-based methods. To address this problem, we propose a fully unsupervised, bottom-up approach, for…

Generalizable 3D part segmentation is important but challenging in vision and robotics. Training deep models via conventional supervised methods requires large-scale 3D datasets with fine-grained part annotations, which are costly to…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…