相关论文: Have We Scene It All? Scene Graph-Aware Deep Point…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

The scene graph is a new data structure describing objects and their pairwise relationship within image scenes. As the size of scene graph in vision applications grows, how to losslessly and efficiently store such data on disks or transmit…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

We introduce a novel superpoint-based transformer architecture for efficient semantic segmentation of large-scale 3D scenes. Our method incorporates a fast algorithm to partition point clouds into a hierarchical superpoint structure, which…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

Training deep models for semantic scene completion (SSC) is challenging due to the sparse and incomplete input, a large quantity of objects of diverse scales as well as the inherent label noise for moving objects. To address the…

We propose MFSeg, an efficient multi-frame 3D semantic segmentation framework. By aggregating point cloud sequences at the feature level and regularizing the feature extraction and aggregation process, MFSeg reduces computational overhead…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

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…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

We address the challenging problem of image captioning by revisiting the representation of image scene graph. At the core of our method lies the decomposition of a scene graph into a set of sub-graphs, with each sub-graph capturing a…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Recently, deep learning methods have shown promising results in point cloud compression. For octree-based point cloud compression, previous works show that the information of ancestor nodes and sibling nodes are equally important for…

Semantic segmentation of point clouds generates comprehensive understanding of scenes through densely predicting the category for each point. Due to the unicity of receptive field, semantic segmentation of point clouds remains challenging…