相关论文: Online Segment Any 3D Thing as Instance Tracking

3D occupancy, an advanced perception technology for driving scenarios, represents the entire scene without distinguishing between foreground and background by quantifying the physical space into a grid map. The widely adopted…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Current multi-object tracking and segmentation (MOTS) methods follow the tracking-by-detection paradigm and adopt convolutions for feature extraction. However, as affected by the inherent receptive field, convolution based feature…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

The goal of this paper is to discover, segment, and track independently moving objects in complex visual scenes. Previous approaches have explored the use of optical flow for motion segmentation, leading to imperfect predictions due to…

Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…

Instance segmentation is a problem of significance in computer vision. However, preparing annotated data for this task is extremely time-consuming and costly. By combining the advantages of 3D scanning, reasoning, and GAN-based domain…

Successful execution of dexterous robotic manipulation tasks in new environments, such as grasping, depends on the ability to proficiently segment unseen objects from the background and other objects. Previous works in unseen object…

The perception of 3D motion of surrounding traffic participants is crucial for driving safety. While existing works primarily focus on general large motions, we contend that the instantaneous detection and quantification of subtle motions…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

In recent years, video instance segmentation (VIS) has been largely advanced by offline models, while online models gradually attracted less attention possibly due to their inferior performance. However, online methods have their inherent…

We address the highly challenging problem of video object segmentation. Given only the initial mask, the task is to segment the target in the subsequent frames. In order to effectively handle appearance changes and similar background…

Semantic outdoor scene understanding based on 3D LiDAR point clouds is a challenging task for autonomous driving due to the sparse and irregular data structure. This paper takes advantages of the uneven range distribution of different LiDAR…

Scene understanding plays a critical role in enabling intelligence and autonomy in robotic systems. Traditional approaches often face challenges, including occlusions, ambiguous boundaries, and the inability to adapt attention based on…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

We pose video object segmentation as spectral graph clustering in space and time, with one graph node for each pixel and edges forming local space-time neighborhoods. We claim that the strongest cluster in this video graph represents the…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangement, including shifting,…