相关论文: Seg2Box: 3D Object Detection by Point-Wise Semanti…

While numerous 3D detection works leverage the complementary relationship between RGB images and point clouds, developments in the broader framework of semi-supervised object recognition remain uninfluenced by multi-modal fusion. Current…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

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…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

With the development of 3D and 2D data acquisition techniques, it has become easy to obtain point clouds and images of scenes simultaneously, which further facilitates dual-modal semantic segmentation. Most existing methods for…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…

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…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Existing weakly or semi-supervised semantic segmentation methods utilize image or box-level supervision to generate pseudo-labels for weakly labeled images. However, due to the lack of strong supervision, the generated pseudo-labels are…

Existing state-of-the-art 3D point cloud understanding methods merely perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework that simultaneously solves the downstream high-level…

Recently, sparsely-supervised 3D object detection has gained great attention, achieving performance close to fully-supervised 3D objectors while requiring only a few annotated instances. Nevertheless, these methods suffer challenges when…

3D object detection is essential for understanding 3D scenes. Contemporary techniques often require extensive annotated training data, yet obtaining point-wise annotations for point clouds is time-consuming and laborious. Recent…

Detecting 3D objects from point clouds is a practical yet challenging task that has attracted increasing attention recently. In this paper, we propose a Label-Guided auxiliary training method for 3D object detection (LG3D), which serves as…

Pointly Supervised Object Detection (PSOD) has attracted considerable interests due to its lower labeling cost as compared to box-level supervised object detection. However, the complex scenes, densely packed and dynamic-scale objects in…

Most existing point cloud instance and semantic segmentation methods rely heavily on strong supervision signals, which require point-level labels for every point in the scene. However, such strong supervision suffers from large annotation…

LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

Current methods for 3D semantic segmentation propose training models with limited annotations to address the difficulty of annotating large, irregular, and unordered 3D point cloud data. They usually focus on the 3D domain only, without…

Label-efficient LiDAR-based 3D object detection is currently dominated by weakly/semi-supervised methods. Instead of exclusively following one of them, we propose MixSup, a more practical paradigm simultaneously utilizing massive cheap…