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

In this paper, we propose a novel self-training approach named Crowd-SDNet that enables a typical object detector trained only with point-level annotations (i.e., objects are labeled with points) to estimate both the center points and sizes…

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 fine-grained road scene understanding, semantic segmentation plays a crucial role in enabling vehicles to perceive and comprehend their surroundings. By assigning a specific class label to each pixel in an image, it allows for precise…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

Panoptic segmentation is an important computer vision task which combines semantic and instance segmentation. It plays a crucial role in domains of medical image analysis, self-driving vehicles, and robotics by providing a comprehensive…

Semantic segmentation methods have achieved outstanding performance thanks to deep learning. Nevertheless, when such algorithms are deployed to new contexts not seen during training, it is necessary to collect and label scene-specific data…

Clustering is one of the fundamental tasks in computer vision and pattern recognition. Recently, deep clustering methods (algorithms based on deep learning) have attracted wide attention with their impressive performance. Most of these…

We present an unsupervised adaptation approach for visual scene understanding in unstructured traffic environments. Our method is designed for unstructured real-world scenarios with dense and heterogeneous traffic consisting of cars,…

We study the problem of self-supervised 3D scene flow estimation from real large-scale raw point cloud sequences, which is crucial to various tasks like trajectory prediction or instance segmentation. In the absence of ground truth scene…

Self-supervised learning has been widely used to obtain transferrable representations from unlabeled images. Especially, recent contrastive learning methods have shown impressive performances on downstream image classification tasks. While…

Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…

Both indoor and outdoor scene perceptions are essential for embodied intelligence. However, current sparse supervised 3D object detection methods focus solely on outdoor scenes without considering indoor settings. To this end, we propose a…

Unsupervised semantic segmentation aims to categorize each pixel in an image into a corresponding class without the use of annotated data. It is a widely researched area as obtaining labeled datasets is expensive. While previous works in…

Large-scale datasets with point-wise semantic and instance labels are crucial to 3D instance segmentation but also expensive. To leverage unlabeled data, previous semi-supervised 3D instance segmentation approaches have explored…

Scene segmentation is widely used in the field of autonomous driving for environment perception, and semantic scene segmentation (3S) has received a great deal of attention due to the richness of the semantic information it contains. It…

Data simulation engines like Unity are becoming an increasingly important data source that allows us to acquire ground truth labels conveniently. Moreover, we can flexibly edit the content of an image in the engine, such as objects…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Large scale object detection with thousands of classes introduces the problem of many contradicting false positive detections, which have to be suppressed. Class-independent non-maximum suppression has traditionally been used for this step,…