相关论文: S3PT: Scene Semantics and Structure Guided Cluster…

Unsupervised panoptic segmentation aims to partition an image into semantically meaningful regions and distinct object instances without training on manually annotated data. In contrast to prior work on unsupervised panoptic scene…

Instance segmentation in 3D scenes is fundamental in many applications of scene understanding. It is yet challenging due to the compound factors of data irregularity and uncertainty in the numbers of instances. State-of-the-art methods…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Semantic scene completion (SSC) aims to infer both the 3D geometry and semantics of a scene from single images. In contrast to prior work on SSC that heavily relies on expensive ground-truth annotations, we approach SSC in an unsupervised…

Rapid progress in 3D semantic segmentation is inseparable from the advances of deep network models, which highly rely on large-scale annotated data for training. To address the high cost and challenges of 3D point-level labeling, we present…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…

Neural network-based clustering has recently gained popularity, and in particular a constrained clustering formulation has been proposed to perform transfer learning and image category discovery using deep learning. The core idea is to…

Scenario-based testing is an indispensable instrument for the comprehensive validation and verification of automated vehicles (AVs). However, finding a manageable and finite, yet representative subset of scenarios in a scalable, possibly…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Research in autonomous driving for unstructured environments suffers from a lack of semantically labeled datasets compared to its urban counterpart. Urban and unstructured outdoor environments are challenging due to the varying lighting and…

Existing weakly-supervised semantic segmentation methods using image-level annotations typically rely on initial responses to locate object regions. However, such response maps generated by the classification network usually focus on…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Deep learning has led to great progress in the detection of mobile (i.e. movement-capable) objects in urban driving scenes in recent years. Supervised approaches typically require the annotation of large training sets; there has thus been…

Auto-Encoder based deep subspace clustering (DSC) is widely used in computer vision, motion segmentation and image processing. However, it suffers from the following three issues in the self-expressive matrix learning process: the first one…

Decision making in automated driving is highly specific to the environment and thus semantic segmentation plays a key role in recognizing the objects in the environment around the car. Pixel level classification once considered a…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Self-supervised learning of point cloud aims to leverage unlabeled 3D data to learn meaningful representations without reliance on manual annotations. However, current approaches face challenges such as limited data diversity and inadequate…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

Due to the high inter-class similarity caused by the complex composition and the co-existing objects across scenes, numerous studies have explored object semantic knowledge within scenes to improve scene recognition. However, a resulting…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…