相关论文: PRED: Pre-training via Semantic Rendering on LiDAR…

This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…

In view of the difficulty in reconstructing object details in point cloud completion, we propose a shape prior learning method for object completion. The shape priors include geometric information in both complete and the partial point…

Recently, the community has made tremendous progress in developing effective methods for point cloud video understanding that learn from massive amounts of labeled data. However, annotating point cloud videos is usually notoriously…

We introduce a self-supervised pretraining method, called OccFeat, for camera-only Bird's-Eye-View (BEV) segmentation networks. With OccFeat, we pretrain a BEV network via occupancy prediction and feature distillation tasks. Occupancy…

Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

3D object detection is a critical task in autonomous driving. Recently multi-modal fusion-based 3D object detection methods, which combine the complementary advantages of LiDAR and camera, have shown great performance improvements over…

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…

The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Large pre-trained vision-language models such as CLIP have demonstrated great potential in zero-shot transferability to downstream tasks. However, to attain optimal performance, the manual selection of prompts is necessary to improve…

In the last few years, deep neural networks opened the doors for big advances in novel view synthesis. Many of these approaches are based on a (coarse) proxy geometry obtained by structure from motion algorithms. Small deficiencies in this…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Current perception models in autonomous driving heavily rely on large-scale labelled 3D data, which is both costly and time-consuming to annotate. This work proposes a solution to reduce the dependence on labelled 3D training data by…

Point cloud semantic segmentation can significantly enhance the perception of an intelligent agent. Nevertheless, the discriminative capability of the segmentation network is influenced by the quantity of samples available for different…

In the landscape of autonomous driving, Bird's-Eye-View (BEV) representation has recently garnered substantial academic attention, serving as a transformative framework for the fusion of multi-modal sensor inputs. This BEV paradigm…

Recently, zero-shot and few-shot learning via Contrastive Vision-Language Pre-training (CLIP) have shown inspirational performance on 2D visual recognition, which learns to match images with their corresponding texts in open-vocabulary…