相关论文: Open-Set LiDAR Panoptic Segmentation Guided by Unc…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Semantic segmentation is a crucial component for perception in automated driving. Deep neural networks (DNNs) are commonly used for this task and they are usually trained on a closed set of object classes appearing in a closed operational…

We propose LiDAL, a novel active learning method for 3D LiDAR semantic segmentation by exploiting inter-frame uncertainty among LiDAR frames. Our core idea is that a well-trained model should generate robust results irrespective of…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

3D panoptic segmentation is a challenging perception task, especially in autonomous driving. It aims to predict both semantic and instance annotations for 3D points in a scene. Although prior 3D panoptic segmentation approaches have…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

Reliable LiDAR panoptic segmentation (LPS), including both semantic and instance segmentation, is vital for many robotic applications, such as autonomous driving. This work proposes a new LPS framework named PANet to eliminate the…

Accurate skin lesion segmentation is vital for dermoscopic Computer-Aided Diagnosis. However, visual ambiguity and morphological irregularity often defeat spatial modeling, necessitating multi-domain architectures. Existing paradigms…

In this work, we introduce a novel Deep Learning-based method to perceive the environment of a vehicle based on radar scans while accounting for uncertainties in its predictions. The environment of the host vehicle is segmented into equally…

Deep neural networks achieve superior performance in semantic segmentation, but are limited to a predefined set of classes, which leads to failures when they encounter unknown objects in open-world scenarios. Recognizing and segmenting…

Safe navigation in new environments requires autonomous vehicles and robots to accurately interpret their surroundings, relying on LiDAR scene segmentation, out-of-distribution (OOD) obstacle detection, and uncertainty computation. We…

Segmenting unknown or anomalous object instances is a critical task in autonomous driving applications, and it is approached traditionally as a per-pixel classification problem. However, reasoning individually about each pixel without…

Tremendous progress in deep learning over the last years has led towards a future with autonomous vehicles on our roads. Nevertheless, the performance of their perception systems is strongly dependent on the quality of the utilized training…

Current closed-set instance segmentation models rely on pre-defined class labels for each mask during training and evaluation, largely limiting their ability to detect novel objects. Open-world instance segmentation (OWIS) models address…

Few-shot 3D semantic segmentation aims to generate accurate semantic masks for query point clouds with only a few annotated support examples. Existing prototype-based methods typically construct compact and deterministic prototypes from the…

In recent years, deep neural networks have defined the state-of-the-art in semantic segmentation where their predictions are constrained to a predefined set of semantic classes. They are to be deployed in applications such as automated…

Open-world and anomaly segmentation methods seek to enable autonomous driving systems to detect and segment both known and unknown objects in real-world scenes. However, existing methods do not assign semantically meaningful labels to…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…