相关论文: LOSC: LiDAR Open-voc Segmentation Consolidator

Recently, a few open-vocabulary methods have been proposed by employing a unified architecture to tackle generic segmentation and detection tasks. However, their performance still lags behind the task-specific models due to the conflict…

As the exorbitant expense of labeling autopilot datasets and the growing trend of utilizing unlabeled data, semi-supervised segmentation on point clouds becomes increasingly imperative. Intuitively, finding out more ``unspoken words''…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Recent advances have demonstrated that Language Vision Models (LVMs) surpass the existing State-of-the-Art (SOTA) in two-dimensional (2D) computer vision tasks, motivating attempts to apply LVMs to three-dimensional (3D) data. While LVMs…

Recently, methods have been proposed for 3D open-vocabulary semantic segmentation. Such methods are able to segment scenes into arbitrary classes based on text descriptions provided during runtime. In this paper, we propose to the best of…

The primary focus of most recent works on open-vocabulary neural fields is extracting precise semantic features from the VLMs and then consolidating them efficiently into a multi-view consistent 3D neural fields representation. However,…

Heavy-duty trucks pose significant safety challenges due to their large size and limited maneuverability compared to passenger vehicles. A deeper understanding of truck characteristics is essential for enhancing the safety perspective of…

3D object segmentation with Large Language Models (LLMs) has become a prevailing paradigm due to its broad semantics, task flexibility, and strong generalization. However, this paradigm is hindered by representation misalignment: LLMs…

Semantic segmentation in autonomous driving has been undergoing an evolution from sparse point segmentation to dense voxel segmentation, where the objective is to predict the semantic occupancy of each voxel in the concerned 3D space. The…

The global rise in the number of people with physical disabilities, in part due to improvements in post-trauma survivorship and longevity, has amplified the demand for advanced assistive technologies to improve mobility and independence.…

This paper presents an Open-Vocabulary Online 3D semantic mapping pipeline, that we denote by its acronym OVO. Given a sequence of posed RGB-D frames, we detect and track 3D segments, which we describe using CLIP vectors. These are computed…

In this work, we propose a method that leverages CLIP feature distillation, achieving efficient 3D segmentation through language guidance. Unlike previous methods that rely on multi-scale CLIP features and are limited by processing speed…

Open-Vocabulary Semantic Segmentation (OVSS) has advanced with recent vision-language models (VLMs), enabling segmentation beyond predefined categories through various learning schemes. Notably, training-free methods offer scalable, easily…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

3D scene understanding is fundamental for embodied AI and robotics, supporting reliable perception for interaction and navigation. Recent approaches achieve zero-shot, open-vocabulary 3D semantic mapping by assigning embedding vectors to 2D…

In semi-supervised semantic segmentation, existing studies have shown promising results in academic settings with controlled splits of benchmark datasets. However, the potential benefits of leveraging significantly larger sets of unlabeled…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Recently, distilling open-vocabulary language features from 2D images into 3D Gaussians has attracted significant attention. Although existing methods achieve impressive language-based interactions of 3D scenes, we observe two fundamental…

Image segmentation beyond predefined categories is a key challenge in remote sensing, where novel and unseen classes often emerge during inference. Open-vocabulary image Segmentation addresses these generalization issues in traditional…

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…