相关论文: 4D-Former: Multimodal 4D Panoptic Segmentation

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…

Navigational perception for visually impaired people has been substantially promoted by both classic and deep learning based segmentation methods. In classic visual recognition methods, the segmentation models are mostly object-dependent,…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

Panoptic segmentation is the recently introduced task that tackles semantic segmentation and instance segmentation jointly. In this paper, we present an extension of SemanticKITTI, which is a large-scale dataset providing dense point-wise…

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…

The field of 4D point cloud understanding is rapidly developing with the goal of analyzing dynamic 3D point cloud sequences. However, it remains a challenging task due to the sparsity and lack of texture in point clouds. Moreover, the…

Semantic segmentation involves assigning a specific category to each pixel in an image. While Vision Transformer-based models have made significant progress, current semantic segmentation methods often struggle with precise predictions in…

Construction sites are challenging environments for autonomous systems due to their unstructured nature and the presence of dynamic actors, such as workers and machinery. This work presents a comprehensive panoptic scene understanding…

We propose a simple, fast, and flexible framework to generate simultaneously semantic and instance masks for panoptic segmentation. Our method, called PanoNet, incorporates a clean and natural structure design that tackles the problem…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Semantic Segmentation combines two sub-tasks: the identification of pixel-level image masks and the application of semantic labels to those masks. Recently, so-called Foundation Models have been introduced; general models trained on very…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…