相关论文: Towards accurate instance segmentation in large-sc…

Object detection or localization is an incremental step in progression from coarse to fine digital image inference. It not only provides the classes of the image objects, but also provides the location of the image objects which have been…

Panoptic reconstruction is a challenging task in 3D scene understanding. However, most existing methods heavily rely on pre-trained semantic segmentation models and known 3D object bounding boxes for 3D panoptic segmentation, which is not…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding…

In the past few years, we have seen great progress in perception algorithms, particular through the use of deep learning. However, most existing approaches focus on a few categories of interest, which represent only a small fraction of the…

We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…

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…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

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…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

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…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

LiDAR panoptic segmentation, which jointly performs instance and semantic segmentation for things and stuff classes, plays a fundamental role in LiDAR perception tasks. While most existing methods explicitly separate these two segmentation…

In recent years, compact and efficient scene understanding representations have gained popularity in increasing situational awareness and autonomy of robotic systems. In this work, we illustrate the concept of a panoptic edge segmentation…

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…

In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…

In this work, we propose a single deep neural network for panoptic segmentation, for which the goal is to provide each individual pixel of an input image with a class label, as in semantic segmentation, as well as a unique identifier for…