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

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

Semantic segmentation on LiDAR imaging is increasingly gaining attention, as it can provide useful knowledge for perception systems and potential for autonomous driving. However, collecting and labeling real LiDAR data is an expensive and…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Robust road segmentation in all road conditions is required for safe autonomous driving and advanced driver assistance systems. Supervised deep learning methods provide accurate road segmentation in the domain of their training data but…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

As the demand for autonomous navigation in off-road environments increases, the need for effective solutions to understand these surroundings becomes essential. In this study, we confront the inherent complexities of semantic segmentation…

Semantic segmentation has emerged as a pivotal area of study in computer vision, offering profound implications for scene understanding and elevating human-machine interactions across various domains. While 2D semantic segmentation has…

LiDAR is a crucial sensor in autonomous driving, commonly used alongside cameras. By exploiting this camera-LiDAR setup and recent advances in image representation learning, prior studies have shown the promising potential of image-to-LiDAR…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

The Segment Anything Model (SAM) has demonstrated its effectiveness in segmenting any part of 2D RGB images. However, SAM exhibits a stronger emphasis on texture information while paying less attention to geometry information when…

Pedestrian detection is a critical problem in computer vision with significant impact on safety in urban autonomous driving. In this work, we explore how semantic segmentation can be used to boost pedestrian detection accuracy while having…

The calibration of deep learning-based perception models plays a crucial role in their reliability. Our work focuses on a class-wise evaluation of several model's confidence performance for LiDAR-based semantic segmentation with the aim of…

Current methods for LIDAR semantic segmentation are not robust enough for real-world applications, e.g., autonomous driving, since it is closed-set and static. The closed-set assumption makes the network only able to output labels of…

LiDAR-based semantic segmentation plays a vital role in autonomous driving by enabling detailed understanding of 3D environments. However, annotating LiDAR point clouds is extremely costly and requires assigning semantic labels to millions…

While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or intensity values.…

Recent advances in foundation models have opened up new possibilities for enhancing 3D perception. In particular, DepthAnything offers dense and reliable geometric priors from monocular RGB images, which can complement sparse LiDAR data in…