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

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

Panoptic segmentation is a fundamental task in computer vision and a crucial component for perception in autonomous vehicles. Recent mask-transformer-based methods achieve impressive performance on standard benchmarks but face significant…

Referring image segmentation aims to segment the image region of interest according to the given language expression, which is a typical multi-modal task. Existing methods either adopt the pixel classification-based or the learnable…

Depth-aware panoptic segmentation is an emerging topic in computer vision which combines semantic and geometric understanding for more robust scene interpretation. Recent works pursue unified frameworks to tackle this challenge but mostly…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Robust cross-seasonal localization is one of the major challenges in long-term visual navigation of autonomous vehicles. In this paper, we exploit recent advances in semantic segmentation of images, i.e., where each pixel is assigned a…

We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…

Semantic Scene Completion (SSC) has emerged as a pivotal approach for jointly learning scene geometry and semantics, enabling downstream applications such as navigation in mobile robotics. The recent generalization to Panoptic Scene…

We propose Panoptic Lifting, a novel approach for learning panoptic 3D volumetric representations from images of in-the-wild scenes. Once trained, our model can render color images together with 3D-consistent panoptic segmentation from…

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

Articulated object perception presents significant challenges in computer vision, particularly because most existing methods ignore temporal dynamics despite the inherently dynamic nature of such objects. The use of 4D temporal data has not…

Learning a data-driven spatio-temporal semantic representation of the objects is the key to coherent and consistent labelling in video. This paper proposes to achieve semantic video object segmentation by learning a data-driven…

Image segmentation is often ambiguous at the level of individual image patches and requires contextual information to reach label consensus. In this paper we introduce Segmenter, a transformer model for semantic segmentation. In contrast to…

Panoptic Part Segmentation (PPS) aims to unify panoptic segmentation and part segmentation into one task. Previous work mainly utilizes separated approaches to handle thing, stuff, and part predictions individually without performing any…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…