相关论文: Mask4Former: Mask Transformer for 4D Panoptic Segm…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

Semantic, instance, and panoptic segmentation of 3D point clouds have been addressed using task-specific models of distinct design. Thereby, the similarity of all segmentation tasks and the implicit relationship between them have not been…

Most existing methods realize 3D instance segmentation by extending those models used for 3D object detection or 3D semantic segmentation. However, these non-straightforward methods suffer from two drawbacks: 1) Imprecise bounding boxes or…

Image segmentation is about grouping pixels with different semantics, e.g., category or instance membership, where each choice of semantics defines a task. While only the semantics of each task differ, current research focuses on designing…

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…

LiDAR panoptic segmentation, which jointly performs instance and semantic segmentation for things and stuff classes, plays a fundamental role in LiDAR perception tasks. While most existing methods explicitly separate these two segmentation…

In recent years, transformer-based models have exhibited considerable potential in point cloud instance segmentation. Despite the promising performance achieved by existing methods, they encounter challenges such as instance query…

Modern approaches typically formulate semantic segmentation as a per-pixel classification task, while instance-level segmentation is handled with an alternative mask classification. Our key insight: mask classification is sufficiently…

Two-stage and query-based instance segmentation methods have achieved remarkable results. However, their segmented masks are still very coarse. In this paper, we present Mask Transfiner for high-quality and efficient instance segmentation.…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

In this work, we tackle the problem of instance segmentation, the task of simultaneously solving object detection and semantic segmentation. Towards this goal, we present a model, called MaskLab, which produces three outputs: box detection,…

In panoptic segmentation, individual instances must be separated within semantic classes. As state-of-the-art methods rely on a pre-defined set of classes, they struggle with novel categories and out-of-distribution (OOD) data. This is…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

This paper introduces a new problem in 3D point cloud: few-shot instance segmentation. Given a few annotated point clouds exemplified a target class, our goal is to segment all instances of this target class in a query point cloud. This…

Domain adaptive panoptic segmentation aims to mitigate data annotation challenge by leveraging off-the-shelf annotated data in one or multiple related source domains. However, existing studies employ two separate networks for instance…

Panoptic segmentation involves a combination of joint semantic segmentation and instance segmentation, where image contents are divided into two types: things and stuff. We present Panoptic SegFormer, a general framework for panoptic…

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

Identifying moving objects is a crucial capability for autonomous navigation, consistent map generation, and future trajectory prediction of objects. In this paper, we propose a novel network that addresses the challenge of segmenting…

We present a mask-piloted Transformer which improves masked-attention in Mask2Former for image segmentation. The improvement is based on our observation that Mask2Former suffers from inconsistent mask predictions between consecutive decoder…