相关论文: NUC-Net: Non-uniform Cylindrical Partition Network…

Extending the success of 2D Large Kernel to 3D perception is challenging due to: 1. the cubically-increasing overhead in processing 3D data; 2. the optimization difficulties from data scarcity and sparsity. Previous work has taken the first…

The low-level details and high-level semantics are both essential to the semantic segmentation task. However, to speed up the model inference, current approaches almost always sacrifice the low-level details, which leads to a considerable…

In this paper, we introduce SalsaNext for the uncertainty-aware semantic segmentation of a full 3D LiDAR point cloud in real-time. SalsaNext is the next version of SalsaNet [1] which has an encoder-decoder architecture where the encoder…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Static LiDAR scanners produce accurate, dense, colored point clouds, but often contain obtrusive artifacts which makes them ill-suited for direct display. We propose an efficient method to render photorealistic images of such scans without…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Nucleus segmentation is a challenging task due to the crowded distribution and blurry boundaries of nuclei. Recent approaches represent nuclei by means of polygons to differentiate between touching and overlapping nuclei and have…

Deep convolutional neural networks (CNNs) have been intensively used for multi-class segmentation of data from different modalities and achieved state-of-the-art performances. However, a common problem when dealing with large, high…

Image instance segmentation is a fundamental research topic in autonomous driving, which is crucial for scene understanding and road safety. Advanced learning-based approaches often rely on the costly 2D mask annotations for training. In…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Semantic image segmentation is an essential component of modern autonomous driving systems, as an accurate understanding of the surrounding scene is crucial to navigation and action planning. Current state-of-the-art approaches in semantic…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Leveraging recent diffusion models, LiDAR-based large-scale 3D scene generation has achieved great success. While recent voxel-based approaches can generate both geometric structures and semantic labels, existing range-view methods are…

Segmentation in 3D scans is playing an increasingly important role in current clinical practice supporting diagnosis, tissue quantification, or treatment planning. The current 3D approaches based on convolutional neural networks usually…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Accurate 3D semantic occupancy perception is essential for autonomous driving in complex environments with diverse and irregular objects. While vision-centric methods suffer from geometric inaccuracies, LiDAR-based approaches often lack…

Semantic segmentation requires both rich spatial information and sizeable receptive field. However, modern approaches usually compromise spatial resolution to achieve real-time inference speed, which leads to poor performance. In this…

Segmenting an entire 3D image often has high computational complexity and requires large memory consumption; by contrast, performing volumetric segmentation in a slice-by-slice manner is efficient but does not fully leverage the 3D data. To…