相关论文: Rethinking Multimodal Few-Shot 3D Point Cloud Segm…

Deployment of deep learning models in robotics as sensory information extractors can be a daunting task to handle, even using generic GPU cards. Here, we address three of its most prominent hurdles, namely, i) the adaptation of a single…

The recent years have witnessed the remarkable development for open-vocabulary semantic segmentation (OVSS) using visual-language foundation models, yet still suffer from following fundamental challenges: (1) insufficient cross-modal…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

Few-Shot Segmentation (FSS) aims to segment novel classes using only a few annotated images. Despite considerable progress under pixel-wise support annotation, current FSS methods still face three issues: the inflexibility of backbone…

Pretrained vision-language models (VLMs), such as CLIP, have shown remarkable potential in few-shot image classification and led to numerous effective transfer learning strategies. These methods leverage the pretrained knowledge of VLMs to…

In this work, we address the challenging task of few-shot and zero-shot 3D point cloud semantic segmentation. The success of few-shot semantic segmentation in 2D computer vision is mainly driven by the pre-training on large-scale datasets…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

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…

The 3D scene understanding is mainly considered as a crucial requirement in computer vision and robotics applications. One of the high-level tasks in 3D scene understanding is semantic segmentation of RGB-Depth images. With the availability…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Most of existing salient object detection models have achieved great progress by aggregating multi-level features extracted from convolutional neural networks. However, because of the different receptive fields of different convolutional…

Confronting the critical challenge of insufficiently annotated samples in medical domain, semi-supervised medical image segmentation (SSMIS) emerges as a promising solution. Specifically, most methodologies following the Mean Teacher (MT)…

Learning-based 3D shape segmentation is usually formulated as a semantic labeling problem, assuming that all parts of training shapes are annotated with a given set of tags. This assumption, however, is impractical for learning fine-grained…

Recent approaches for few-shot 3D point cloud semantic segmentation typically require a two-stage learning process, i.e., a pre-training stage followed by a few-shot training stage. While effective, these methods face overreliance on…

Learning to reliably perceive and understand the scene is an integral enabler for robots to operate in the real-world. This problem is inherently challenging due to the multitude of object types as well as appearance changes caused by…

Few shot segmentation (FSS) aims to learn pixel-level classification of a target object in a query image using only a few annotated support samples. This is challenging as it requires modeling appearance variations of target objects and the…

Video semantic segmentation aims to generate accurate semantic maps for each video frame. To this end, many works dedicate to integrate diverse information from consecutive frames to enhance the features for prediction, where a feature…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…