相关论文: Interactive4D: Interactive 4D LiDAR Segmentation

4D LiDAR semantic segmentation, also referred to as multi-scan semantic segmentation, plays a crucial role in enhancing the environmental understanding capabilities of autonomous vehicles or robots. It classifies the semantic category of…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Interactive segmentation allows efficient label generation by leveraging user-provided clicks to progressively refine predictions, which is critical when fully supervised labels are costly or generalization to unseen classes is needed.…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Zero-shot 4D segmentation and recognition of arbitrary objects in Lidar is crucial for embodied navigation, with applications ranging from streaming perception to semantic mapping and localization. However, the primary challenge in…

Many deep learning based automated medical image segmentation systems, in reality, face difficulties in deployment due to the cost of massive data annotation and high latency in model iteration. We propose a dynamic interactive learning…

Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…

Accurate moving object segmentation is an essential task for autonomous driving. It can provide effective information for many downstream tasks, such as collision avoidance, path planning, and static map construction. How to effectively…

Recent works on click-based interactive segmentation have demonstrated state-of-the-art results by using various inference-time optimization schemes. These methods are considerably more computationally expensive compared to feedforward…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

Accurately annotating multiple 3D objects in LiDAR scenes is laborious and challenging. While a few previous studies have attempted to leverage semi-automatic methods for cost-effective bounding box annotation, such methods have limitations…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

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…