相关论文: LabelFormer: Object Trajectory Refinement for Offb…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

In the past decade, deep neural networks have achieved significant progress in point cloud learning. However, collecting large-scale precisely-annotated training data is extremely laborious and expensive, which hinders the scalability of…

Datasets labelled by human annotators are widely used in the training and testing of machine learning models. In recent years, researchers are increasingly paying attention to label quality. However, it is not always possible to objectively…

LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…

We present OffRoadTranSeg, the first end-to-end framework for semi-supervised segmentation in unstructured outdoor environment using transformers and automatic data selection for labelling. The offroad segmentation is a scene understanding…

For specialized and dense downstream tasks such as object detection, labeling data requires expertise and can be very expensive, making few-shot and semi-supervised models much more attractive alternatives. While in the few-shot setup we…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Traditional image annotation tasks rely heavily on human effort for object selection and label assignment, making the process time-consuming and prone to decreased efficiency as annotators experience fatigue after extensive work. This paper…

With the success of pre-trained visual-language (VL) models such as CLIP in visual representation tasks, transferring pre-trained models to downstream tasks has become a crucial paradigm. Recently, the prompt tuning paradigm, which draws…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

The manual annotation of outdoor LiDAR point clouds for instance segmentation is extremely costly and time-consuming. Current methods attempt to reduce this burden but still rely on some form of human labeling. To completely eliminate this…

Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…

Manual annotation of soiling on surround view cameras is a very challenging and expensive task. The unclear boundary for various soiling categories like water drops or mud particles usually results in a large variance in the annotation…

Increasing the annotation efficiency of trajectory annotations from videos has the potential to enable the next generation of data-hungry tracking algorithms to thrive on large-scale datasets. Despite the importance of this task, there are…

Reliable road segmentation in all weather conditions is critical for intelligent transportation applications, autonomous vehicles and advanced driver's assistance systems. For robust performance, all weather conditions should be included in…

In this paper, a self-learning approach is proposed towards solving scene-specific pedestrian detection problem without any human' annotation involved. The self-learning approach is deployed as progressive steps of object discovery, object…

Annotated data has become the most important bottleneck in training accurate machine learning models, especially for areas that require domain expertise. A recent approach to deal with the above issue proposes using natural language…

Effectively preserving and encoding structure features from objects in irregular and sparse LiDAR points is a key challenge to 3D object detection on point cloud. Recently, Transformer has demonstrated promising performance on many 2D and…

Reducing the amount of labels required to train convolutional neural networks without performance degradation is key to effectively reduce human annotation efforts. We propose Reliable Label Bootstrapping (ReLaB), an unsupervised…

The tasks of object detection and trajectory forecasting play a crucial role in understanding the scene for autonomous driving. These tasks are typically executed in a cascading manner, making them prone to compounding errors. Furthermore,…