相关论文: Reflectivity Is All You Need!: Advancing LiDAR Sem…

Zero-shot 4D segmentation and recognition of arbitrary objects in Lidar is crucial for embodied navigation, with applications ranging from streaming perception to semantic mapping and localization. However, the primary challenge in…

Recent advancements in camera-based 3D object detection have introduced cross-modal knowledge distillation to bridge the performance gap with LiDAR 3D detectors, leveraging the precise geometric information in LiDAR point clouds. However,…

Most previous works of outdoor instance segmentation for images only use color information. We explore a novel direction of sensor fusion to exploit stereo cameras. Geometric information from disparities helps separate overlapping objects…

Diffusion models have been applied to 3D LiDAR scene completion due to their strong training stability and high completion quality. However, the slow sampling speed limits the practical application of diffusion-based scene completion models…

We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Safety-critical applications such as autonomous driving require robust 3D environment perception algorithms capable of handling diverse and ambiguous surroundings. The predictive performance of classification models is heavily influenced by…

Semantic segmentation requires large amounts of pixel-wise annotations to learn accurate models. In this paper, we present a video prediction-based methodology to scale up training sets by synthesizing new training samples in order to…

Semantic scene understanding, including the perception and classification of moving agents, is essential to enabling safe and robust driving behaviours of autonomous vehicles. Cameras and LiDARs are commonly used for semantic scene…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

State-of-the-art multimodal semantic segmentation strategies combining LiDAR and color data are usually designed on top of asymmetric information-sharing schemes and assume that both modalities are always available. This strong assumption…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

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…

Reflections in natural images commonly cause false positives in automated detection systems. These false positives can lead to significant impairment of accuracy in the tasks of detection, counting and segmentation. Here, inspired by the…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…

In this paper, we strive for solving the ambiguities arisen by the astoundingly high density of raw PseudoLiDAR for monocular 3D object detection for autonomous driving. Without much computational overhead, we propose a supervised and an…

The Segment Anything Model (SAM) is a foundational model for image segmentation tasks, known for its strong generalization across diverse applications. However, its impressive performance comes with significant computational and resource…