相关论文: Towards Explainable LiDAR Point Cloud Semantic Seg…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…

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 Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

We present a powerful method to extract per-point semantic class labels from aerialphotogrammetry data. Labeling this kind of data is important for tasks such as environmental modelling, object classification and scene understanding. Unlike…

Recent research efforts on 3D point cloud semantic segmentation (PCSS) have achieved outstanding performance by adopting neural networks. However, the robustness of these complex models have not been systematically analyzed. Given that PCSS…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Although the use of remote sensing technologies for monitoring forested environments has gained increasing attention, publicly available point cloud datasets remain scarce due to the high costs, sensor requirements, and time-intensive…

Gradient-based saliency maps are widely used to explain deep neural network decisions. However, as models become deeper and more black-box, such as in closed-source APIs like ChatGPT, computing gradients become challenging, hindering…

This paper presents a framework for semantic segmentation on sparse sequential point clouds of millimeter-wave radar. Compared with cameras and lidars, millimeter-wave radars have the advantage of not revealing privacy, having a strong…

The ability to deploy robots that can operate safely in diverse environments is crucial for developing embodied intelligent agents. As a community, we have made tremendous progress in within-domain LiDAR semantic segmentation. However, do…

We present Generative Semantic Segmentation (GSS), a generative learning approach for semantic segmentation. Uniquely, we cast semantic segmentation as an image-conditioned mask generation problem. This is achieved by replacing the…

Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…

Explaining decisions made by deep neural networks is a rapidly advancing research topic. In recent years, several approaches have attempted to provide visual explanations of decisions made by neural networks designed for structured 2D image…

The increasing demand for accurate representations of 3D scenes, combined with immersive technologies has led point clouds to extensive popularity. However, quality point clouds require a large amount of data and therefore the need for…

Interpreting the decision-making process of deep convolutional neural networks remains a central challenge in achieving trustworthy and transparent artificial intelligence. Explainable AI (XAI) techniques, particularly Class Activation Map…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Creating as-is models from scratch is to this day still a time- and money-consuming task due to its high manual effort. Therefore, projects, especially those with a big spatial extent, could profit from automating the process of creating…

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…