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

3D object detection aims to recover the 3D information of concerning objects and serves as the fundamental task of autonomous driving perception. Its performance greatly depends on the scale of labeled training data, yet it is costly to…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Instance segmentation on 3D point clouds (3DIS) is a longstanding challenge in computer vision, where state-of-the-art methods are mainly based on full supervision. As annotating ground truth dense instance masks is tedious and expensive,…

3D segmentation is a core problem in computer vision and, similarly to many other dense prediction tasks, it requires large amounts of annotated data for adequate training. However, densely labeling 3D point clouds to employ…

We present a novel active learning framework for 3D point cloud semantic segmentation that, for the first time, integrates large language models (LLMs) to construct hierarchical label structures and guide uncertainty-based sample selection.…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

Indoor scenes are usually characterized by scattered objects and their relationships, which turns the indoor scene classification task into a challenging computer vision task. Despite the significant performance boost in classification…

Point cloud analysis has received much attention recently; and segmentation is one of the most important tasks. The success of existing approaches is attributed to deep network design and large amount of labelled training data, where the…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

The image annotation stage is a critical and often the most time-consuming part required for training and evaluating object detection and semantic segmentation models. Deployment of the existing models in novel environments often requires…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Though quite challenging, leveraging large-scale unlabeled or partially labeled images in a cost-effective way has increasingly attracted interests for its great importance to computer vision. To tackle this problem, many Active Learning…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

Locating and retrieving objects from scene-level point clouds is a challenging problem with broad applications in robotics and augmented reality. This task is commonly formulated as open-vocabulary 3D instance segmentation. Although recent…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

A crucial task in scene understanding is 3D object detection, which aims to detect and localize the 3D bounding boxes of objects belonging to specific classes. Existing 3D object detectors heavily rely on annotated 3D bounding boxes during…

Monocular 3D object detection is one of the most challenging tasks in 3D scene understanding. Due to the ill-posed nature of monocular imagery, existing monocular 3D detection methods highly rely on training with the manually annotated 3D…