相关论文: MemorySeg: Online LiDAR Semantic Segmentation with…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…

Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…

Unsupervised online 3D instance segmentation is a fundamental yet challenging task, as it requires maintaining consistent object identities across LiDAR scans without relying on annotated training data. Existing methods, such as UNIT, have…

LiDAR segmentation has become a crucial component of advanced autonomous driving systems. Recent range-view LiDAR segmentation approaches show promise for real-time processing. However, they inevitably suffer from corrupted contextual…

Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

With the availability of many datasets tailored for autonomous driving in real-world urban scenes, semantic segmentation for urban driving scenes achieves significant progress. However, semantic segmentation for off-road, unstructured…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Semantic segmentation has achieved great accuracy in understanding spatial layout. For real-time tasks based on dynamic scenes, we extend semantic segmentation in temporal domain to enhance the spatial accuracy with motion. We utilize a…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

Dense semantic segmentation in dynamic environments is fundamentally limited by the low-frame-rate (LFR) nature of standard cameras, which creates critical perceptual gaps between frames. To solve this, we introduce Anytime Interframe…

Achieving optimal semantic segmentation with frame-based vision sensors poses significant challenges for real-time systems like UAVs and self-driving cars, which require rapid and precise processing. Traditional frame-based methods often…