相关论文: PointSSC: A Cooperative Vehicle-Infrastructure Poi…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

Due to the scarcity of annotated scene flow data, self-supervised scene flow learning in point clouds has attracted increasing attention. In the self-supervised manner, establishing correspondences between two point clouds to approximate…

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

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…

Collaborative perception, an emerging paradigm in autonomous driving, has been introduced to mitigate the limitations of single-vehicle systems, such as limited sensor range and occlusion. To improve the robustness of inter-vehicle data…

Online scene perception and topology reasoning are critical for autonomous vehicles to understand their driving environments, particularly for mapless driving systems that endeavor to reduce reliance on costly High-Definition (HD) maps.…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…

Adapting robot programmes to changes in the environment is a well-known industry problem, and it is the reason why many tedious tasks are not automated in small and medium-sized enterprises (SMEs). A semantic world model of a robot's…

In this paper, we propose one novel model for point cloud semantic segmentation, which exploits both the local and global structures within the point cloud based on the contextual point representations. Specifically, we enrich each point…

In this paper, we present a comprehensive point cloud semantic segmentation network that aggregates both local and global multi-scale information. First, we propose an Angle Correlation Point Convolution (ACPConv) module to effectively…

Autonomous vehicles may make wrong decisions due to inaccurate detection and recognition. Therefore, an intelligent vehicle can combine its own data with that of other vehicles to enhance perceptive ability, and thus improve detection…

Semantic scene completion (SSC) requires an accurate understanding of the geometric and semantic relationships between the objects in the 3D scene for reasoning the occluded objects. The popular SSC methods voxelize the 3D objects, allowing…

Point clouds, as a primary representation of 3D data, can be categorized into scene domain point clouds and object domain point clouds. Point cloud self-supervised learning (SSL) has become a mainstream paradigm for learning 3D…

Current semantic segmentation approaches for point cloud scenes heavily rely on manual labeling, while research on unsupervised semantic segmentation methods specifically for raw point clouds is still in its early stages. Unsupervised point…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

Point cloud completion aims to infer the complete geometries for missing regions of 3D objects from incomplete ones. Previous methods usually predict the complete point cloud based on the global shape representation extracted from the…