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

Purpose: Accurate identification of hepatocystic anatomy is critical to preventing surgical complications during laparoscopic cholecystectomy. Deep learning models often struggle with occlusions, long-range dependencies, and capturing the…

For complex segmentation tasks, fully automatic systems are inherently limited in their achievable accuracy for extracting relevant objects. Especially in cases where only few data sets need to be processed for a highly accurate result,…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

It is a challenging task to accurately perform semantic segmentation due to the complexity of real picture scenes. Many semantic segmentation methods based on traditional deep learning insufficiently captured the semantic and appearance…

We present an efficient voxelization method to encode the geometry and attributes of 3D point clouds obtained from autonomous vehicles. Due to the circular scanning trajectory of sensors, the geometry of LiDAR point clouds is inherently…

Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…

Large-scale point cloud semantic segmentation is an important task in 3D computer vision, which is widely applied in autonomous driving, robotics, and virtual reality. Current large-scale point cloud semantic segmentation methods usually…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

Semantic segmentation is an important task for scene understanding in self-driving cars and robotics, which aims to assign dense labels for all pixels in the image. Existing work typically improves semantic segmentation performance by…

Due to the aged nature of much of the utility network infrastructure, developing a robust and trustworthy computer vision system capable of inspecting it with minimal human intervention has attracted considerable research attention. The…

Convolutional Neural Networks (CNNs) have been recently employed to solve problems from both the computer vision and medical image analysis fields. Despite their popularity, most approaches are only able to process 2D images while most…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

In this paper, we present an Assertion-based Multi-View Fusion network (AMVNet) for LiDAR semantic segmentation which aggregates the semantic features of individual projection-based networks using late fusion. Given class scores from…

Recent advances in deep learning, especially deep convolutional neural networks (CNNs), have led to significant improvement over previous semantic segmentation systems. Here we show how to improve pixel-wise semantic segmentation by…

Accurate perception is critical for vehicle safety, with LiDAR as a key enabler in autonomous driving. To ensure robust performance across environments, sensor types, and weather conditions without costly re-annotation, domain…

Point clouds can be represented in many forms (views), typically, point-based sets, voxel-based cells or range-based images(i.e., panoramic view). The point-based view is geometrically accurate, but it is disordered, which makes it…

Recent real-time semantic segmentation models, whether single-branch or multi-branch, achieve good performance and speed. However, their speed is limited by multi-path blocks, and some depend on high-performance teacher models for training.…

In autonomous vehicles or robots, point clouds from LiDAR can provide accurate depth information of objects compared with 2D images, but they also suffer a large volume of data, which is inconvenient for data storage or transmission. In…