相关论文: High-quality Pseudo-labeling for Point Cloud Segme…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Presently, self-training stands as a prevailing approach in cross-domain semantic segmentation, enhancing model efficacy by training with pixels assigned with reliable pseudo-labels. However, we find two critical limitations in this…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Training deep networks for semantic segmentation requires large amounts of labeled training data, which presents a major challenge in practice, as labeling segmentation masks is a highly labor-intensive process. To address this issue, we…

To safely deploy autonomous vehicles, onboard perception systems must work reliably at high accuracy across a diverse set of environments and geographies. One of the most common techniques to improve the efficacy of such systems in new…

Labelling point clouds fully is highly time-consuming and costly. As larger point cloud datasets with billions of points become more common, we ask whether the full annotation is even necessary, demonstrating that existing baselines…

Supervised learning in large discriminative models is a mainstay for modern computer vision. Such an approach necessitates investing in large-scale human-annotated datasets for achieving state-of-the-art results. In turn, the efficacy of…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Learning on 3D scene-based point cloud has received extensive attention as its promising application in many fields, and well-annotated and multisource datasets can catalyze the development of those data-driven approaches. To facilitate the…

Current 3D scene segmentation methods are heavily dependent on manually annotated 3D training datasets. Such manual annotations are labor-intensive, and often lack fine-grained details. Importantly, models trained on this data typically…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Monocular 3D object detection is a challenging task in the self-driving and computer vision community. As a common practice, most previous works use manually annotated 3D box labels, where the annotating process is expensive. In this paper,…

Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Semantic segmentation of 3D geospatial point clouds is fundamental to remote sensing applications, yet domain shifts caused by regional and acquisition-related variations often degrade model performance. Although domain adaptation can…

Semantic segmentation methods have achieved outstanding performance thanks to deep learning. Nevertheless, when such algorithms are deployed to new contexts not seen during training, it is necessary to collect and label scene-specific data…

Fine-grained image classification has witnessed significant advancements with the advent of deep learning and computer vision technologies. However, the scarcity of detailed annotations remains a major challenge, especially in scenarios…

Semi-supervised 3D object detection from point cloud aims to train a detector with a small number of labeled data and a large number of unlabeled data. The core of existing methods lies in how to select high-quality pseudo-labels using the…

Scene-level point cloud self-supervised learning (PC-SSL) has demonstrated potential in enhancing the generalization capability of 3D vision models. Despite the advances in the field through existing methods, the sample-independent modeling…