相关论文: SSC-RS: Elevate LiDAR Semantic Scene Completion wi…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to…

The ambiguity at the boundaries of different semantic classes in point cloud semantic segmentation often leads to incorrect decisions in intelligent perception systems, such as autonomous driving. Hence, accurate delineation of the…

Vision-based 3D semantic scene completion (SSC) describes autonomous driving scenes through 3D volume representations. However, the occlusion of invisible voxels by scene surfaces poses challenges to current SSC methods in hallucinating…

Semantic Scene Completion (SSC) from monocular RGB images is a fundamental yet challenging task due to the inherent ambiguity of inferring occluded 3D geometry from a single view. While feed-forward methods have made progress, they often…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

The completion, extension, and generation of 3D semantic scenes are an interrelated set of capabilities that are useful for robotic navigation and exploration. Existing approaches seek to decouple these problems and solve them one-off.…

3D semantic scene graphs are a powerful holistic representation as they describe the individual objects and depict the relation between them. They are compact high-level graphs that enable many tasks requiring scene reasoning. In real-world…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Semantic scene completion, also known as semantic occupancy prediction, can provide dense geometric and semantic information for autonomous vehicles, which attracts the increasing attention of both academia and industry. Unfortunately,…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…

Semantic Scene Completion (SSC) is essential for 3D perception in mobile robotics, as it enables holistic scene understanding by jointly estimating dense volumetric occupancy and per-voxel semantics. Although SSC has been widely studied in…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…