相关论文: Enhancing 3D LiDAR Segmentation by Shaping Dense a…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Multi-modal 3D semantic segmentation is vital for applications such as autonomous driving and virtual reality (VR). To effectively deploy these models in real-world scenarios, it is essential to employ cross-domain adaptation techniques…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

3D semantic segmentation plays a pivotal role in autonomous driving and road infrastructure analysis, yet state-of-the-art 3D models are prone to severe domain shift when deployed across different datasets. In this paper, we propose an…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

Semantic segmentation of large-scale outdoor point clouds is essential for urban scene understanding in various applications, especially autonomous driving and urban high-definition (HD) mapping. With rapid developments of mobile laser…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

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,…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…