相关论文: Hardness-Aware Scene Synthesis for Semi-Supervised…

Recently, 3D scenes parsing with deep learning approaches has been a heating topic. However, current methods with fully-supervised models require manually annotated point-wise supervision which is extremely user-unfriendly and…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

A bathtub in a library, a sink in an office, a bed in a laundry room -- the counter-intuition suggests that scene provides important prior knowledge for 3D object detection, which instructs to eliminate the ambiguous detection of similar…

This study addresses the challenge of performing visual localization in demanding conditions such as night-time scenarios, adverse weather, and seasonal changes. While many prior studies have focused on improving image-matching performance…

Deep learning methods typically require vast amounts of training data to reach their full potential. While some publicly available datasets exists, domain specific data always needs to be collected and manually labeled, an expensive, time…

Semi-supervised 3D object detection is a promising yet under-explored direction to reduce data annotation costs, especially for cluttered indoor scenes. A few prior works, such as SESS and 3DIoUMatch, attempt to solve this task by utilizing…

Recently, there has been substantial progress in image synthesis from semantic labelmaps. However, methods used for this task assume the availability of complete and unambiguous labelmaps, with instance boundaries of objects, and class…

We propose a new approach, Synthetic Optimized Layout with Instance Detection (SOLID), to pretrain object detectors with synthetic images. Our "SOLID" approach consists of two main components: (1) generating synthetic images using a…

Modern machine learning models for scene understanding, such as depth estimation and object tracking, rely on large, high-quality datasets that mimic real-world deployment scenarios. To address data scarcity, we propose an end-to-end system…

Semi-supervised 3D object detection can benefit from the promising pseudo-labeling technique when labeled data is limited. However, recent approaches have overlooked the impact of noisy pseudo-labels during training, despite efforts to…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

Salient Object Detection (SOD) aims to identify and segment prominent regions within a scene. Traditional models rely on manually annotated pseudo labels with precise pixel-level accuracy, which is time-consuming. We developed a low-cost,…

This paper proposes a novel method of learning by predicting view assignments with support samples (PAWS). The method trains a model to minimize a consistency loss, which ensures that different views of the same unlabeled instance are…

Most existing scene text detectors require large-scale training data which cannot scale well due to two major factors: 1) scene text images often have domain-specific distributions; 2) collecting large-scale annotated scene text images is…

Though quite challenging, leveraging large-scale unlabeled or partially labeled images in a cost-effective way has increasingly attracted interests for its great importance to computer vision. To tackle this problem, many Active Learning…

Semantic understanding of 3D point cloud relies on learning models with massively annotated data, which, in many cases, are expensive or difficult to collect. This has led to an emerging research interest in semi-supervised learning (SSL)…

Unsupervised online 3D instance segmentation is a fundamental yet challenging task, as it requires maintaining consistent object identities across LiDAR scans without relying on annotated training data. Existing methods, such as UNIT, have…

Dominated point cloud-based 3D object detectors in autonomous driving scenarios rely heavily on the huge amount of accurately labeled samples, however, 3D annotation in the point cloud is extremely tedious, expensive and time-consuming. To…

Scene classification has established itself as a challenging research problem. Compared to images of individual objects, scene images could be much more semantically complex and abstract. Their difference mainly lies in the level of…