相关论文: SVQNet: Sparse Voxel-Adjacent Query Network for 4D…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

3D object detectors usually rely on hand-crafted proxies, e.g., anchors or centers, and translate well-studied 2D frameworks to 3D. Thus, sparse voxel features need to be densified and processed by dense prediction heads, which inevitably…

Semantic segmentation is the problem of assigning a class label to every pixel in an image, and is an important component of an autonomous vehicle vision stack for facilitating scene understanding and object detection. However, many of the…

Large imbalance often exists between the foreground points (i.e., objects) and the background points in outdoor LiDAR point clouds. It hinders cutting-edge detectors from focusing on informative areas to produce accurate 3D object detection…

Achieving optimal semantic segmentation with frame-based vision sensors poses significant challenges for real-time systems like UAVs and self-driving cars, which require rapid and precise processing. Traditional frame-based methods often…

The low-level details and high-level semantics are both essential to the semantic segmentation task. However, to speed up the model inference, current approaches almost always sacrifice the low-level details, which leads to a considerable…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

LiDAR-based semantic segmentation plays a vital role in autonomous driving by enabling detailed understanding of 3D environments. However, annotating LiDAR point clouds is extremely costly and requires assigning semantic labels to millions…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Self-driving cars need to understand 3D scenes efficiently and accurately in order to drive safely. Given the limited hardware resources, existing 3D perception models are not able to recognize small instances (e.g., pedestrians, cyclists)…

Point cloud-based large scale place recognition is fundamental for many applications like Simultaneous Localization and Mapping (SLAM). Although many models have been proposed and have achieved good performance by learning short-range local…

We propose SFMNet, a novel 3D sparse detector that combines the efficiency of sparse convolutions with the ability to model long-range dependencies. While traditional sparse convolution techniques efficiently capture local structures, they…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…

Deep Neural Networks (DNNs) have recently shown state of the art performance on semantic segmentation tasks, however, they still suffer from problems of poor boundary localization and spatial fragmented predictions. The difficulties lie in…

Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation…

Do video-text transformers learn to model temporal relationships across frames? Despite their immense capacity and the abundance of multimodal training data, recent work has revealed the strong tendency of video-text models towards…

LiDAR semantic segmentation is crucial for autonomous vehicles and mobile robots, requiring high accuracy and real-time processing, especially on resource-constrained embedded systems. Previous state-of-the-art methods often face a…