相关论文: Text3DAug -- Prompted Instance Augmentation for Li…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Model selection for a given target task can be costly, as it may entail extensive annotation of the quality of outputs of different models. We introduce DiffUse, an efficient method to make an informed decision between candidate text…

3D instance segmentation for laser scanning (LiDAR) point clouds remains a challenge in many remote sensing-related domains. Successful solutions typically rely on supervised deep learning and manual annotations, and consequently focus on…

The manual annotation of outdoor LiDAR point clouds for instance segmentation is extremely costly and time-consuming. Current methods attempt to reduce this burden but still rely on some form of human labeling. To completely eliminate this…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Medical image understanding requires meticulous examination of fine visual details, with particular regions requiring additional attention. While radiologists build such expertise over years of experience, it is challenging for AI models to…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Most previous methods for text data augmentation are limited to simple tasks and weak baselines. We explore data augmentation on hard tasks (i.e., few-shot natural language understanding) and strong baselines (i.e., pretrained models with…

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…

Data augmentation techniques have been used to alleviate the problem of scarce labeled data in various NER tasks (flat, nested, and discontinuous NER tasks). Existing augmentation techniques either manipulate the words in the original text…

Instance-level recognition (ILR) focuses on identifying individual objects rather than broad categories, offering the highest granularity in image classification. However, this fine-grained nature makes creating large-scale annotated…

High-level 3D scene understanding is essential in many applications. However, the challenges of generating accurate 3D annotations make development of deep learning models difficult. We turn to recent advancements in automatic retrieval of…

Deep learning based medical image recognition systems often require a substantial amount of training data with expert annotations, which can be expensive and time-consuming to obtain. Recently, synthetic augmentation techniques have been…

Recently, the impressive generative capabilities of diffusion models have been demonstrated, producing images with remarkable fidelity. Particularly, existing methods for the 3D object generation tasks, which is one of the fastest-growing…

Monocular 3D detection relies on just a single camera and is therefore easy to deploy. Yet, achieving reliable 3D understanding from monocular images requires substantial annotation, and 3D labels are especially costly. To maximize…

This report presents the design and implementation of a semi-automated data annotation pipeline developed within the DARTS project, whose goal is to create a large-scale, multimodal dataset of driving scenarios recorded in Polish…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Supervised deep learning methods for segmentation require large amounts of labelled training data, without which they are prone to overfitting, not generalizing well to unseen images. In practice, obtaining a large number of annotations…