相关论文: UniD-Shift: Towards Unified Semantic Segmentation …

Moving object segmentation (MOS) is a task to distinguish moving objects, e.g., moving vehicles and pedestrians, from the surrounding static environment. The segmentation accuracy of MOS can have an influence on odometry, map construction,…

3D semantic scene completion and 2D semantic segmentation are two tightly correlated tasks that are both essential for indoor scene understanding, because they predict the same semantic classes, using positively correlated high-level…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…

Multimodal remote sensing data, acquired from diverse sensors, offer a comprehensive and integrated perspective of the Earth's surface. Leveraging multimodal fusion techniques, semantic segmentation enables detailed and accurate analysis of…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Unsupervised online 3D instance segmentation is a fundamental yet challenging task, as it requires maintaining consistent object identities across LiDAR scans without relying on annotated training data. Existing methods, such as UNIT, have…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Affordance segmentation aims to decompose 3D objects into parts that serve distinct functional roles, enabling models to reason about object interactions rather than mere recognition. Existing methods, mostly following the paradigm of 3D…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Semantic segmentation is one of the core tasks in the field of computer vision, and its goal is to accurately classify each pixel in an image. The traditional Unet model achieves efficient feature extraction and fusion through an…

Recently, developing unified medical image segmentation models gains increasing attention, especially with the advent of the Segment Anything Model (SAM). SAM has shown promising binary segmentation performance in natural domains, however,…

Robust environment perception for autonomous vehicles is a tremendous challenge, which makes a diverse sensor set with e.g. camera, lidar and radar crucial. In the process of understanding the recorded sensor data, 3D semantic segmentation…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

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…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

This study aims to address the problem of incomplete information in unimodal images for semantic segmentation and object detection tasks. Existing multimodal fusion methods suffer from limited capability in discriminative modeling of…