相关论文: LiDAR-Camera Panoptic Segmentation via Geometry-Co…

Panoptic segmentation, which combines instance and semantic segmentation, has gained a lot of attention in autonomous vehicles, due to its comprehensive representation of the scene. This task can be applied for cameras and LiDAR sensors,…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

LiDAR-based 3D panoptic segmentation often struggles with the inherent sparsity of data from LiDAR sensors, which makes it challenging to accurately recognize distant or small objects. Recently, a few studies have sought to overcome this…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

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…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

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…

Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Part-aware panoptic segmentation is a problem of computer vision that aims to provide a semantic understanding of the scene at multiple levels of granularity. More precisely, semantic areas, object instances, and semantic parts are…

With the advent of advanced multi-sensor fusion models, there has been a notable enhancement in the performance of perception tasks within in terms of autonomous driving. Despite these advancements, the challenges persist, particularly in…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…