相关论文: AutoInst: Automatic Instance-Based Segmentation of…

Non-destructive 3D imaging of large multi-particulate samples is essential for quantifying particle-level properties, such as size, shape, and spatial distribution, across applications in mining, materials science, and geology. However,…

State-of-the-art lidar panoptic segmentation (LPS) methods follow bottom-up segmentation-centric fashion wherein they build upon semantic segmentation networks by utilizing clustering to obtain object instances. In this paper, we re-think…

For best performance, today's semantic segmentation methods use large and carefully labeled datasets, requiring expensive annotation budgets. In this work, we show that coarse annotation is a low-cost but highly effective alternative for…

This paper presents an end-to-end instance segmentation framework, termed SOIT, that Segments Objects with Instance-aware Transformers. Inspired by DETR \cite{carion2020end}, our method views instance segmentation as a direct set prediction…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Current methods for 3D semantic segmentation propose training models with limited annotations to address the difficulty of annotating large, irregular, and unordered 3D point cloud data. They usually focus on the 3D domain only, without…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Instance segmentation is a form of image detection which has a range of applications, such as object refinement, medical image analysis, and image/video editing, all of which demand a high degree of accuracy. However, this precision is…

State-of-the-art models on contemporary 3D segmentation benchmarks like ScanNet consume and label dataset-provided 3D point clouds, obtained through post processing of sensed multiview RGB-D images. They are typically trained in-domain,…

The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

We propose spatial semantic embedding network (SSEN), a simple, yet efficient algorithm for 3D instance segmentation using deep metric learning. The raw 3D reconstruction of an indoor environment suffers from occlusions, noise, and is…

3D object recognition is a challenging task for intelligent and robot systems in industrial and home indoor environments. It is critical for such systems to recognize and segment the 3D object instances that they encounter on a frequent…

Instance segmentation is a fundamental skill for many robotic applications. We propose a self-supervised method that uses grasp interactions to collect segmentation supervision for an instance segmentation model. When a robot grasps an…

Instance segmentation on 3D point clouds (3DIS) is a longstanding challenge in computer vision, where state-of-the-art methods are mainly based on full supervision. As annotating ground truth dense instance masks is tedious and expensive,…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…