相关论文: VESPA: Towards un(Human)supervised Open-World Poin…

Data annotation is crucial for developing machine learning solutions. The current paradigm is to hire ordinary human annotators to annotate data instructed by expert-crafted guidelines. As this paradigm is laborious, tedious, and costly, we…

Object detection models typically rely on predefined categories, limiting their ability to identify novel objects in open-world scenarios. To overcome this constraint, we introduce ADAM: Autonomous Discovery and Annotation Model, a…

3D visual grounding (VG) aims to locate objects or regions within 3D scenes guided by natural language descriptions. While indoor 3D VG has advanced, outdoor 3D VG remains underexplored due to two challenges: (1) large-scale outdoor LiDAR…

Generating high-quality pseudo-labels on the cloud is crucial for cloud-edge object detection, especially in dynamic traffic monitoring where data distributions evolve. Existing methods often assume reliable cloud models, neglecting…

The advances in multi-modal foundation models (FMs) (e.g., CLIP and LLaVA) have facilitated the auto-labeling of large-scale datasets, enhancing model performance in challenging downstream tasks such as open-vocabulary object detection and…

We study the problem of unsupervised 3D semantic segmentation on raw point clouds without needing human labels in training. Existing methods usually formulate this problem into learning per-point local features followed by a simple grouping…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Open-vocabulary 3D object detection methods are able to localize 3D boxes of classes unseen during training. Despite the name, existing methods rely on user-specified classes both at training and inference. We propose to study…

This paper presents the first study on Unsupervised Domain Adaptation (UDA) for multimodal 3D panoptic segmentation (mm-3DPS), aiming to improve generalization under domain shifts commonly encountered in real-world autonomous driving. A…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

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…

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…

Object detection is crucial for ensuring safe autonomous driving. However, data-driven approaches face challenges when encountering minority or novel objects in the 3D driving scene. In this paper, we propose VisLED, a language-driven…

Drivable areas and curbs are critical traffic elements for autonomous driving, forming essential components of the vehicle visual perception system and ensuring driving safety. Deep neural networks (DNNs) have significantly improved…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Vision-Language Models (VLMs) offer a promising approach to end-to-end autonomous driving due to their human-like reasoning capabilities. However, troublesome gaps remains between current VLMs and real-world autonomous driving applications.…