相关论文: RAPiD-Seg: Range-Aware Pointwise Distance Distribu…

Panoptic segmentation aims to address semantic and instance segmentation simultaneously in a unified framework. However, an efficient solution of panoptic segmentation in applications like autonomous driving is still an open research…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

LiDAR has become one of the primary 3D object detection sensors in autonomous driving. However, LiDAR's diverging point pattern with increasing distance results in a non-uniform sampled point cloud ill-suited to discretized volumetric…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

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…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Numerous prior studies predominantly emphasize constructing relation vectors for individual neighborhood points and generating dynamic kernels for each vector and embedding these into high-dimensional spaces to capture implicit local…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…