相关论文: 3D Indoor Instance Segmentation in an Open-World

This paper proposes a method to use deep neural networks as end-to-end open-set classifiers. It is based on intra-class data splitting. In open-set recognition, only samples from a limited number of known classes are available for training.…

Progress in self-supervised learning has brought strong general image representation learning methods. Yet so far, it has mostly focused on image-level learning. In turn, tasks such as unsupervised image segmentation have not benefited from…

Pseudo depth maps are depth map predicitions which are used as ground truth during training. In this paper we leverage pseudo depth maps in order to segment objects of classes that have never been seen during training. This renders our…

In this paper, we tackle the problem of discovering new classes in unlabeled visual data given labeled data from disjoint classes. Existing methods typically first pre-train a model with labeled data, and then identify new classes in…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

Humans have a natural instinct to identify unknown object instances in their environments. The intrinsic curiosity about these unknown instances aids in learning about them, when the corresponding knowledge is eventually available. This…

At present, object recognition studies are mostly conducted in a closed lab setting with classes in test phase typically in training phase. However, real-world problem is far more challenging because: i) new classes unseen in the training…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

The divergence between labeled training data and unlabeled testing data is a significant challenge for recent deep learning models. Unsupervised domain adaptation (UDA) attempts to solve such problem. Recent works show that self-training is…

In this paper, we show that recent advances in self-supervised feature learning enable unsupervised object discovery and semantic segmentation with a performance that matches the state of the field on supervised semantic segmentation 10…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

Recent works on open-vocabulary 3D instance segmentation show strong promise, but at the cost of slow inference speed and high computation requirements. This high computation cost is typically due to their heavy reliance on 3D clip…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

Using deep learning, we now have the ability to create exceptionally good semantic segmentation systems; however, collecting the prerequisite pixel-wise annotations for training images remains expensive and time-consuming. Therefore, it…

Addressing Lidar Panoptic Segmentation (LPS ) is crucial for safe deployment of autonomous vehicles. LPS aims to recognize and segment lidar points w.r.t. a pre-defined vocabulary of semantic classes, including thing classes of countable…

Most existing instance segmentation methods only focus on improving performance and are not suitable for real-time scenes such as autonomous driving. This paper proposes a real-time framework that segmenting and detecting 3D objects by…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Semantic 3D scene understanding is a problem of critical importance in robotics. While significant advances have been made in simultaneous localization and mapping algorithms, robots are still far from having the common sense knowledge…

In this work, we introduce OpenIns3D, a new 3D-input-only framework for 3D open-vocabulary scene understanding. The OpenIns3D framework employs a "Mask-Snap-Lookup" scheme. The "Mask" module learns class-agnostic mask proposals in 3D point…