相关论文: Segment, Lift and Fit: Automatic 3D Shape Labeling…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…

We propose Semantic-Fast-SAM (SFS), a semantic segmentation framework that combines the Fast Segment Anything model with a semantic labeling pipeline to achieve real-time performance without sacrificing accuracy. FastSAM is an efficient…

Automated nodule segmentation is essential for computer-assisted diagnosis in ultrasound images. Nevertheless, most existing methods depend on precise pixel-level annotations by medical professionals, a process that is both costly and…

In this paper, we propose Augmented Reality Semi-automatic labeling (ARS), a semi-automatic method which leverages on moving a 2D camera by means of a robot, proving precise camera tracking, and an augmented reality pen to define initial…

Semi-supervised segmentation tackles the scarcity of annotations by leveraging unlabeled data with a small amount of labeled data. A prominent way to utilize the unlabeled data is by consistency training which commonly uses a…

Semi-supervised 3D medical image segmentation aims to achieve accurate segmentation using few labelled data and numerous unlabelled data. The main challenge in the design of semi-supervised learning methods consists in the effective use of…

Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape…

Learning-based 3D shape segmentation is usually formulated as a semantic labeling problem, assuming that all parts of training shapes are annotated with a given set of tags. This assumption, however, is impractical for learning fine-grained…

We present an approach to improve 3D vehicle labeling in self-driving applications through zero-shot inference of vehicle information, leveraging Vehicle Make and Model Recognition (VMMR) methods. The proposed approach utilizes a Vision…

Semantic segmentation has been widely investigated in the community, in which the state of the art techniques are based on supervised models. Those models have reported unprecedented performance at the cost of requiring a large set of high…

The development of machine learning models for CT imaging depends on the availability of large, high-quality, and diverse annotated datasets. Although large volumes of CT images and reports are readily available in clinical picture…

We propose a single-shot method for simultaneous 3D object segmentation and 6-DOF pose estimation in pure 3D point clouds scenes based on a consensus that \emph{one point only belongs to one object}, i.e., each point has the potential power…

Closed-set 3D perception models trained on only a pre-defined set of object categories can be inadequate for safety critical applications such as autonomous driving where new object types can be encountered after deployment. In this paper,…

Recently, Segment Anything Model (SAM) has demonstrated strong generalizability in various instance segmentation tasks. However, its performance is severely dependent on the quality of manual prompts. In addition, the RGB images that…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Large segmentation foundation models such as the Segment Anything Model (SAM) have reshaped promptable segmentation in natural images, and recent efforts have extended these models to medical images and volumetric settings. However,…

We propose Cut-and-LEaRn (CutLER), a simple approach for training unsupervised object detection and segmentation models. We leverage the property of self-supervised models to 'discover' objects without supervision and amplify it to train a…

Learning-based street scene semantic understanding in autonomous driving (AD) has advanced significantly recently, but the performance of the AD model is heavily dependent on the quantity and quality of the annotated training data. However,…

Segment anything model (SAM) has shown its spectacular performance in segmenting universal objects, especially when elaborate prompts are provided. However, the drawback of SAM is twofold. On the first hand, it fails to segment specific…