相关论文: ProtoSeg: A Prototype-Based Point Cloud Instance S…

DEtection TRansformer (DETR) started a trend that uses a group of learnable queries for unified visual perception. This work begins by applying this appealing paradigm to LiDAR-based point cloud segmentation and obtains a simple yet…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

Instance segmentation on 3D point clouds is one of the most extensively researched areas toward the realization of autonomous cars and robots. Certain existing studies have split input point clouds into small regions such as 1m x 1m; one…

This paper introduces a new problem in 3D point cloud: few-shot instance segmentation. Given a few annotated point clouds exemplified a target class, our goal is to segment all instances of this target class in a query point cloud. This…

Recent developments in the 3D scanning technologies have made the generation of highly accurate 3D point clouds relatively easy but the segmentation of these point clouds remains a challenging area. A number of techniques have set precedent…

Shape instantiation which predicts the 3D shape of a dynamic target from one or more 2D images is important for real-time intra-operative navigation. Previously, a general shape instantiation framework was proposed with manual image…

We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

Most 3D instance segmentation methods exploit a bottom-up strategy, typically including resource-exhaustive post-processing. For point grouping, bottom-up methods rely on prior assumptions about the objects in the form of hyperparameters,…

We introduce an end-to-end learnable technique to robustly identify feature edges in 3D point cloud data. We represent these edges as a collection of parametric curves (i.e.,lines, circles, and B-splines). Accordingly, our deep neural…

This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Segmenting object instances is a key task in machine perception, with safety-critical applications in robotics and autonomous driving. We introduce a novel approach to instance segmentation that jointly leverages measurements from multiple…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

In this paper, we explore the mask representation in instance segmentation with Point-of-Interest (PoI) features. Differentiating multiple potential instances within a single PoI feature is challenging because learning a high-dimensional…

We propose a simple yet effective instance segmentation framework, termed CondInst (conditional convolutions for instance segmentation). Top-performing instance segmentation methods such as Mask R-CNN rely on ROI operations (typically…

Many existing approaches for 3D point cloud semantic segmentation are fully supervised. These fully supervised approaches heavily rely on large amounts of labeled training data that are difficult to obtain and cannot segment new classes…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

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…