相关论文: Towards 3D Object-Centric Feature Learning for Sem…

Depth completion plays a vital role in 3D perception systems, especially in scenarios where sparse depth data must be densified for tasks such as autonomous driving, robotics, and augmented reality. While many existing approaches rely on…

Outdoor scene completion is a challenging issue in 3D scene understanding, which plays an important role in intelligent robotics and autonomous driving. Due to the sparsity of LiDAR acquisition, it is far more complex for 3D scene…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

In this paper, we present a novel neural network using multi scale feature fusion at various scales for accurate and efficient semantic image segmentation. We used ResNet based feature extractor, dilated convolutional layers in downsampling…

3D occupancy becomes a promising perception representation for autonomous driving to model the surrounding environment at a fine-grained scale. However, it remains challenging to efficiently aggregate 3D occupancy over time across multiple…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

In this paper, we focus on the challenging multicategory instance segmentation problem in remote sensing images (RSIs), which aims at predicting the categories of all instances and localizing them with pixel-level masks. Although many…

Semantic scene completion (SSC) jointly predicts the semantics and geometry of the entire 3D scene, which plays an essential role in 3D scene understanding for autonomous driving systems. SSC has achieved rapid progress with the help of…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

This paper focuses on visual semantic navigation, the task of producing actions for an active agent to navigate to a specified target object category in an unknown environment. To complete this task, the algorithm should simultaneously…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

We propose a novel 3D point cloud segmentation framework named SASO, which jointly performs semantic and instance segmentation tasks. For semantic segmentation task, inspired by the inherent correlation among objects in spatial context, we…

Humans can discern scene-independent features of objects across various environments, allowing them to swiftly identify objects amidst changing factors such as lighting, perspective, size, and position and imagine the complete images of the…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

Self-supervised methods have shown remarkable progress in learning high-level semantics and low-level temporal correspondence. Building on these results, we take one step further and explore the possibility of integrating these two features…

Driven by autonomous driving's demands for precise 3D perception, 3D semantic occupancy prediction has become a pivotal research topic. Unlike bird's-eye-view (BEV) methods, which restrict scene representation to a 2D plane, occupancy…

Autonomous driving requires forecasting both geometry and semantics over time to effectively reason about future environment states. Existing vision-based occupancy forecasting methods focus on motion-related categories such as static and…