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

Open-set 3D segmentation represents a major point of interest for multiple downstream robotics and augmented/virtual reality applications. We present a decoupled 3D segmentation pipeline to ensure modularity and adaptability to novel 3D…

In recent years, the research community has shown a lot of interest to panoramic images that offer a 360-degree directional perspective. Multiple data modalities can be fed, and complimentary characteristics can be utilized for more robust…

Accurate segmentation of multiple organs and the differentiation of pathological tissues in medical imaging are crucial but challenging, especially for nuanced classifications and ambiguous organ boundaries. To tackle these challenges, we…

Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

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…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

In the realm of computer vision, the integration of advanced techniques into the processing of RGB-D camera inputs poses a significant challenge, given the inherent complexities arising from diverse environmental conditions and varying…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Integrating LiDAR and Camera information into Bird's-Eye-View (BEV) has become an essential topic for 3D object detection in autonomous driving. Existing methods mostly adopt an independent dual-branch framework to generate LiDAR and camera…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

With increasing applications of semantic segmentation, numerous datasets have been proposed in the past few years. Yet labeling remains expensive, thus, it is desirable to jointly train models across aggregations of datasets to enhance data…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

With the recent availability and affordability of commercial depth sensors and 3D scanners, an increasing number of 3D (i.e., RGBD, point cloud) datasets have been publicized to facilitate research in 3D computer vision. However, existing…

Recent advances in LiDAR 3D detection have demonstrated the effectiveness of Transformer-based frameworks in capturing the global dependencies from point cloud spaces, which serialize the 3D voxels into the flattened 1D sequence for…

We present a deep learning model, dubbed Glissando-Net, to simultaneously estimate the pose and reconstruct the 3D shape of objects at the category level from a single RGB image. Previous works predominantly focused on either estimating…

Joint RGB-infrared perception is essential for achieving robustness under diverse weather and illumination conditions. Although foundation models excel within single modalities, they suffer from substantial cross-modal degradation, an issue…