相关论文: MinkOcc: Towards real-time label-efficient semanti…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Visual-based 3D semantic occupancy perception is a key technology for robotics, including autonomous vehicles, offering an enhanced understanding of the environment by 3D. This approach, however, typically requires more computational…

3D semantic occupancy prediction in the past was considered to require precise geometric relationships in order to enable effective training. However, in complex indoor environments, the large-scale and widespread collection of data, along…

3D occupancy prediction based on multi-sensor fusion,crucial for a reliable autonomous driving system, enables fine-grained understanding of 3D scenes. Previous fusion-based 3D occupancy predictions relied on depth estimation for processing…

3D occupancy prediction provides dense spatial understanding critical for safe autonomous driving. However, this task suffers from a severe class imbalance due to its volumetric representation, where safety-critical objects (bicycles,…

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…

We introduce a discriminative multimodal descriptor based on a pair of sensor readings: a point cloud from a LiDAR and an image from an RGB camera. Our descriptor, named MinkLoc++, can be used for place recognition, re-localization and loop…

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…

Semantic segmentation and activity classification are key components to creating intelligent surgical systems able to understand and assist clinical workflow. In the Operating Room, semantic segmentation is at the core of creating robots…

Occupancy prediction has increasingly garnered attention in recent years for its fine-grained understanding of 3D scenes. Traditional approaches typically rely on dense, regular grid representations, which often leads to excessive…

Human behavior is a continuous stochastic spatio-temporal process which is governed by semantic actions and affordances as well as latent factors. Therefore, video-based human activity modeling is concerned with a number of tasks such as…

Self-supervised 3D occupancy prediction offers a promising solution for understanding complex driving scenes without requiring costly 3D annotations. However, training dense occupancy decoders to capture fine-grained geometry and semantics…

Panoptic occupancy poses a novel challenge by aiming to integrate instance occupancy and semantic occupancy within a unified framework. However, there is still a lack of efficient solutions for panoptic occupancy. In this paper, we propose…

With the recent growth of urban mapping and autonomous driving efforts, there has been an explosion of raw 3D data collected from terrestrial platforms with lidar scanners and color cameras. However, due to high labeling costs, ground-truth…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…

It is laborious to manually label point cloud data for training high-quality 3D object detectors. This work proposes a weakly supervised approach for 3D object detection, only requiring a small set of weakly annotated scenes, associated…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Understanding how the surrounding environment changes is crucial for performing downstream tasks safely and reliably in autonomous driving applications. Recent occupancy estimation techniques using only camera images as input can provide…

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…