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

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

3D semantic segmentation is a critical task in many real-world applications, such as autonomous driving, robotics, and mixed reality. However, the task is extremely challenging due to ambiguities coming from the unstructured, sparse, and…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Automated vehicles rely on an accurate and robust perception of the environment. Similarly to automated cars, highly automated trains require an environmental perception. Although there is a lot of research based on either camera or LiDAR…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

This paper introduces a novel approach to 4D Panoptic LiDAR Segmentation that decouples semantic and instance segmentation, leveraging single-scan semantic predictions as prior information for instance segmentation. Our method D-PLS first…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

LiDAR semantic segmentation models are typically trained from random initialization as universal pre-training is hindered by the lack of large, diverse datasets. Moreover, most point cloud segmentation architectures incorporate custom…