相关论文: TerraSeg: Self-Supervised Ground Segmentation for …

Environmental perception is an important aspect within the field of autonomous vehicles that provides crucial information about the driving domain, including but not limited to identifying clear driving areas and surrounding obstacles.…

Deep learning models, e.g. supervised Encoder-Decoder style networks, exhibit promising performance in medical image segmentation, but come with a high labelling cost. We propose TriSegNet, a semi-supervised semantic segmentation framework.…

Liver tumor segmentation is essential for computer-aided diagnosis, surgical planning, and prognosis evaluation. However, obtaining and maintaining a large-scale dataset with dense annotations is challenging. Semi-Supervised Learning (SSL)…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Most of the recent Deep Semantic Segmentation algorithms suffer from large generalization errors, even when powerful hierarchical representation models based on convolutional neural networks have been employed. This could be attributed to…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

Accurate semantic segmentation models typically require significant computational resources, inhibiting their use in practical applications. Recent works rely on well-crafted lightweight models to achieve fast inference. However, these…

The lack of quality labeled data is one of the main bottlenecks for training Deep Learning models. As the task increases in complexity, there is a higher penalty for overfitting and unstable learning. The typical paradigm employed today is…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

The reliability of driving perception systems under unprecedented conditions is crucial for practical usage. Latest advancements have prompted increasing interest in multi-LiDAR perception. However, prevailing driving datasets predominantly…

Hyperspectral image analysis has become an important topic widely researched by the remote sensing community. Classification and segmentation of such imagery help understand the underlying materials within a scanned scene, since…

This manuscript presents a series of my selected contributions to the topic of label-efficient learning in computer vision and remote sensing. The central focus of this research is to develop and adapt methods that can learn effectively…

Autonomous vehicles drive millions of miles on the road each year. Under such circumstances, deployed machine learning models are prone to failure both in seemingly normal situations and in the presence of outliers. However, in the training…

Reliable terrain perception is a fundamental requirement for autonomous navigation in unstructured, off-road environments. Desert landscapes present unique challenges due to low chromatic contrast between terrain categories, extreme…

While surface normals are widely used to analyse 3D scene geometry, surface normal estimation from LiDAR point clouds remains severely underexplored. This is caused by the lack of large-scale annotated datasets on the one hand, and lack of…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

We aim to develop a robust yet flexible visual foundation model for Earth observation. It should possess strong capabilities in recognizing and localizing diverse visual targets while providing compatibility with various input-output…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…