相关论文: Semantic Complete Scene Forecasting from a 4D Dyna…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Semantic segmentation, as a crucial component of complex visual interpretation, plays a fundamental role in autonomous vehicle vision systems. Recent studies have significantly improved the accuracy of semantic segmentation by exploiting…

Establishing semantic correspondence is a core problem in computer vision and remains challenging due to large intra-class variations and lack of annotated data. In this paper, we aim to incorporate global semantic context in a flexible…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Point cloud completion aims to predict a complete shape in high accuracy from its partial observation. However, previous methods usually suffered from discrete nature of point cloud and unstructured prediction of points in local regions,…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

This work studies Semantic Scene Completion which aims to predict a 3D semantic segmentation of our surroundings, even though some areas are occluded. For this we construct a Bayesian Convolutional Neural Network (BCNN), which is not only…

Recently, camera-based solutions have been extensively explored for scene semantic completion (SSC). Despite their success in visible areas, existing methods struggle to capture complete scene semantics due to frequent visual occlusions. To…

Semantic scene completion (SSC) aims to predict complete 3D voxel occupancy and semantics from a single-view RGB-D image, and recent SSC methods commonly adopt multi-modal inputs. However, our investigation reveals two limitations:…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

Weather forecasting plays a critical role in various sectors, driving decision-making and risk management. However, traditional methods often struggle to capture the complex dynamics of meteorological systems, particularly in the presence…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

In this paper, we address the task of semantics-guided image outpainting, which is to complete an image by generating semantically practical content. Different from most existing image outpainting works, we approach the above task by…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Point cloud completion aims to infer a complete shape from its partial observation. Many approaches utilize a pure encoderdecoder paradigm in which complete shape can be directly predicted by shape priors learned from partial scans,…