相关论文: TE-NeXt: A LiDAR-Based 3D Sparse Convolutional Net…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

Understanding objects at the level of their constituent parts is fundamental to advancing computer vision, graphics, and robotics. While datasets like PartNet have driven progress in 3D part understanding, their reliance on untextured…

Convolution is the main building block of convolutional neural networks (CNN). We observe that an optimized CNN often has highly correlated filters as the number of channels increases with depth, reducing the expressive power of feature…

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…

Vision Transformers (ViTs) enable strong multi-view 3D detection but are limited by high inference latency from dense token and query processing across multiple views and large 3D regions. Existing sparsity methods, designed mainly for 2D…

We introduced Temporally Incremental Disparity Estimation Network (TIDE-Net), a learning-based technique for disparity computation in mono-camera structured light systems. In our hardware setting, a static pattern is projected onto a…

Features that are equivariant to a larger group of symmetries have been shown to be more discriminative and powerful in recent studies. However, higher-order equivariant features often come with an exponentially-growing computational cost.…

It is a challenging task to accurately perform semantic segmentation due to the complexity of real picture scenes. Many semantic segmentation methods based on traditional deep learning insufficiently captured the semantic and appearance…

Semantic segmentation of point clouds is a key component of scene understanding for robotics and autonomous driving. In this paper, we introduce TORNADO-Net - a neural network for 3D LiDAR point cloud semantic segmentation. We incorporate a…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Accurate vehicle type classification serves a significant role in the intelligent transportation system. It is critical for ruler to understand the road conditions and usually contributive for the traffic light control system to response…

Training deep models for LiDAR semantic segmentation is challenging due to the inherent sparsity of point clouds. Utilizing temporal data is a natural remedy against the sparsity problem as it makes the input signal denser. However,…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

The deployment of high-accuracy 3D object detection models from point cloud remains a significant challenge due to their substantial computational and memory requirements. To address this, we introduce StripDet, a novel lightweight…

Transfer entropy (TE) is an information theoretic measure that reveals the directional flow of information between processes, providing valuable insights for a wide range of real-world applications. This work proposes Transfer Entropy…

Due to the advent of modern embedded systems and mobile devices with constrained resources, there is a great demand for incredibly efficient deep neural networks for machine learning purposes. There is also a growing concern of privacy and…

Extending the translation equivariance property of convolutional neural networks to larger symmetry groups has been shown to reduce sample complexity and enable more discriminative feature learning. Further, exploiting additional symmetries…

Robust road surface estimation is required for autonomous ground vehicles to navigate safely. Despite it becoming one of the main targets for autonomous mobility researchers in recent years, it is still an open problem in which cameras and…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

LiDAR point cloud semantic segmentation enables the robots to obtain fine-grained semantic information of the surrounding environment. Recently, many works project the point cloud onto the 2D image and adopt the 2D Convolutional Neural…