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

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…

Semantic segmentation plays a crucial role in enabling machines to understand and interpret visual scenes at a pixel level. While traditional segmentation methods have achieved remarkable success, their generalization to diverse scenes and…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…

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…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…