相关论文: LeAP: Consistent multi-domain 3D labeling using Fo…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Recent advancements in vision foundation models (VFMs) have opened up new possibilities for versatile and efficient visual perception. In this work, we introduce Seal, a novel framework that harnesses VFMs for segmenting diverse automotive…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Automatic pseudo-labeling is a powerful tool to tap into large amounts of sequential unlabeled data. It is specially appealing in safety-critical applications of autonomous driving, where performance requirements are extreme, datasets are…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…

Pretraining on large labeled datasets is a prerequisite to achieve good performance in many computer vision tasks like 2D object recognition, video classification etc. However, pretraining is not widely used for 3D recognition tasks where…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

In the past few years we have seen great advances in object perception (particularly in 4D space-time dimensions) thanks to deep learning methods. However, they typically rely on large amounts of high-quality labels to achieve good…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Point cloud segmentation is central to autonomous driving and 3D scene understanding. While voxel- and point-based methods dominate recent research due to their compatibility with deep architectures and ability to capture fine-grained…

Semantic segmentation of 3D point clouds is important for many applications, such as autonomous driving. To train semantic segmentation models, labeled point cloud segmentation datasets are essential. Meanwhile, point cloud labeling is…

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…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Training and testing supervised object detection models require a large collection of images with ground truth labels. Labels define object classes in the image, as well as their locations, shape, and possibly other information such as…

Large-scale vision 2D vision language models, such as CLIP can be aligned with a 3D encoder to learn generalizable (open-vocabulary) 3D vision models. However, current methods require supervised pre-training for such alignment, and the…

Diffusion Language Models (dLLMs) have garnered significant attention for their potential in highly parallel processing. The parallel capabilities of existing dLLMs stem from the assumption of conditional independence at high confidence…