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

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

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…

This paper describes a novel method of training a semantic segmentation model for scene recognition of agricultural mobile robots exploiting publicly available datasets of outdoor scenes that are different from the target greenhouse…

Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

This paper presents a novel weakly supervised semantic segmentation method for radar segmentation, where the existing LiDAR semantic segmentation models are employed to generate semantic labels, which then serve as supervision signals for…

Poles and building edges are frequently observable objects on urban roads, conveying reliable hints for various computer vision tasks. To repetitively extract them as features and perform association between discrete LiDAR frames for…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

Effectively grounding complex language to pixels in remote sensing (RS) images is a critical challenge for applications like disaster response and environmental monitoring. Current models can parse simple, single-target commands but fail…

A common class of problems in remote sensing is scene classification, a fundamentally important task for natural hazards identification, geographic image retrieval, and environment monitoring. Recent developments in this field rely…

Noisy labels, inevitably existing in pseudo segmentation labels generated from weak object-level annotations, severely hampers model optimization for semantic segmentation. Previous works often rely on massive hand-crafted losses and…

Rapid assessment after a natural disaster is key for prioritizing emergency resources. In the case of landslides, rapid assessment involves determining the extent of the area affected and measuring the size and location of individual…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

Point-, voxel-, and range-views are three representative forms of point clouds. All of them have accurate 3D measurements but lack color and texture information. RGB images are a natural complement to these point cloud views and fully…

Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…

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.…

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…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

Light detection and ranging (LiDAR) remote sensing encompasses two major directions: data interpretation and parameter inversion. However, both directions rely heavily on costly and labor-intensive labeled data and field measurements, which…