相关论文: 4D-CS: Exploiting Cluster Prior for 4D Spatio-Temp…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

Dynamic scene understanding is a challenging problem and motion segmentation plays a crucial role in solving it. Incorporating semantics and motion enhances the overall perception of the dynamic scene. For applications of outdoor robotic…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

LiDAR semantic segmentation plays a crucial role in enabling autonomous driving and robots to understand their surroundings accurately and robustly. A multitude of methods exist within this domain, including point-based, range-image-based,…

Research works on the two topics of Semantic Segmentation and SLAM (Simultaneous Localization and Mapping) have been following separate tracks. Here, we link them quite tightly by delineating a category label fusion technique that allows…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…

State-of-the-art multimodal semantic segmentation strategies combining LiDAR and color data are usually designed on top of asymmetric information-sharing schemes and assume that both modalities are always available. This strong assumption…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Novel class discovery (NCD) for semantic segmentation is the task of learning a model that can segment unlabelled (novel) classes using only the supervision from labelled (base) classes. This problem has recently been pioneered for 2D image…

Longitudinal reproducibility is an essential concern in automated medical image segmentation, yet has proven to be an elusive objective as manual brain structure tracings have shown more than 10% variability. To improve reproducibility,…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

4D panoptic LiDAR segmentation is essential for scene understanding in autonomous driving and robotics, combining semantic and instance segmentation with temporal consistency. Current methods, like 4D-PLS and 4D-STOP, use a…

Point clouds provide intrinsic geometric information and surface context for scene understanding. Existing methods for point cloud segmentation require a large amount of fully labeled data. Using advanced depth sensors, collection of large…

In this paper, we present an extension to LaserNet, an efficient and state-of-the-art LiDAR based 3D object detector. We propose a method for fusing image data with the LiDAR data and show that this sensor fusion method improves the…