相关论文: UniSeg: A Unified Multi-Modal LiDAR Segmentation N…

Open-world 3D scene understanding is a critical challenge that involves recognizing and distinguishing diverse objects and categories from 3D data, such as point clouds, without relying on manual annotations. Traditional methods struggle…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…

LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

LiDAR perception is fundamental to robotics, enabling machines to understand their environment in 3D. A crucial task for LiDAR-based scene understanding and navigation is ground segmentation. However, existing methods are either handcrafted…

It's a meaningful and attractive topic to build a general and inclusive segmentation model that can recognize more categories in various scenarios. A straightforward way is to combine the existing fragmented segmentation datasets and train…

Progress in 3D vision-language learning has been hindered by the scarcity of large-scale 3D datasets. We introduce UniVLG, a unified architecture for 2D and 3D vision-language understanding that bridges the gap between existing 2D-centric…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Domain-generalized LiDAR semantic segmentation (LSS) seeks to train models on source-domain point clouds that generalize reliably to multiple unseen target domains, which is essential for real-world LiDAR applications. However, existing…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

Accurate detection of obstacles in 3D is an essential task for autonomous driving and intelligent transportation. In this work, we propose a general multimodal fusion framework FusionPainting to fuse the 2D RGB image and 3D point clouds at…

Medical image analysis using deep learning has recently been prevalent, showing great performance for various downstream tasks including medical image segmentation and its sibling, volumetric image segmentation. Particularly, a typical…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

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…