相关论文: BikeScenes: Online LiDAR Semantic Segmentation for…

3D semantic segmentation plays a fundamental and crucial role to understand 3D scenes. While contemporary state-of-the-art techniques predominantly concentrate on elevating the overall performance of 3D semantic segmentation based on…

BiSeNet has been proved to be a popular two-stream network for real-time segmentation. However, its principle of adding an extra path to encode spatial information is time-consuming, and the backbones borrowed from pretrained tasks, e.g.,…

The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Recent progress in semantic scene understanding has primarily been enabled by the availability of semantically annotated bi-modal (camera and LiDAR) datasets in urban environments. However, such annotated datasets are also needed for…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

The performance of object detection methods based on LiDAR information is heavily impacted by the availability of training data, usually limited to certain laser devices. As a result, the use of synthetic data is becoming popular when…

Traditional autonomous driving pipelines decouple camera design from downstream perception, relying on fixed optics and handcrafted ISPs that prioritize human viewable imagery rather than machine semantics. This separation discards…

Instance-level object re-identification is a fundamental computer vision task, with applications from image retrieval to intelligent monitoring and fraud detection. In this work, we propose the novel task of damaged object…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

Over the past years, computer vision community has contributed to enormous progress in semantic image segmentation, a per-pixel classification task, crucial for dense scene understanding and rapidly becoming vital in lots of real-world…

LiDAR-camera 3D representation pretraining has shown significant promise for 3D perception tasks and related applications. However, two issues widely exist in this framework: 1) Solely keyframes are used for training. For example, in…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Agile locomotion in complex 3D environments requires robust spatial awareness to safely avoid diverse obstacles such as aerial clutter, uneven terrain, and dynamic agents. Depth-based perception approaches often struggle with sensor noise,…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

Semantic segmentation requires both rich spatial information and sizeable receptive field. However, modern approaches usually compromise spatial resolution to achieve real-time inference speed, which leads to poor performance. In this…

The robustness of semantic segmentation on edge cases of traffic scene is a vital factor for the safety of intelligent transportation. However, most of the critical scenes of traffic accidents are extremely dynamic and previously unseen,…

Semantic scene segmentation from a bird's-eye-view (BEV) perspective plays a crucial role in facilitating planning and decision-making for mobile robots. Although recent vision-only methods have demonstrated notable advancements in…