相关论文: rareboost3d: a synthetic lidar dataset with enhanc…

Continued improvements in deep learning architectures have steadily advanced the overall performance of 3D object detectors to levels on par with humans for certain tasks and datasets, where the overall performance is mostly driven by…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

The ability to detect and classify rare occurrences in images has important applications - for example, counting rare and endangered species when studying biodiversity, or detecting infrequent traffic scenarios that pose a danger to…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

Recent developments in the field of deep learning for 3D data have demonstrated promising potential for end-to-end learning directly from point clouds. However, many real-world point clouds contain a large class im-balance due to the…

Point clouds are a fundamental 3D representation in computer vision, enabling a wide range of perception tasks. However, real-world point clouds often suffer from degradations such as incompleteness, noise, outliers, and irregular density,…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Although extensive research has been conducted on 3D point cloud segmentation, effectively adapting generic models to novel categories remains a formidable challenge. This paper proposes a novel approach to improve point cloud few-shot…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

With deep learning becoming a more prominent approach for automatic classification of three-dimensional point cloud data, a key bottleneck is the amount of high quality training data, especially when compared to that available for…

Contemporary autonomous vehicle (AV) benchmarks have advanced techniques for training 3D detectors, particularly on large-scale lidar data. Surprisingly, although semantic class labels naturally follow a long-tailed distribution,…

Class imbalance is a persistent challenge in visual recognition, particularly in safety-critical domains where collecting positive examples is expensive and rare events are inherently underrepresented. We propose a lightweight synthetic…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

Long-tailed class distributions are pervasive in multi-class medical datasets and pose significant challenges for deep learning models which typically underperform on tail classes with limited samples. This limitation is particularly…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Multispectral point cloud (MPC) captures 3D spatial-spectral information from the observed scene, which can be used for scene understanding and has a wide range of applications. However, most of the existing classification methods were…