相关论文: FugSeg: Fast Uncertainty-aware Ground Segmentation…

Wake vortices - strong, coherent air turbulences created by aircraft - pose a significant risk to aviation safety and therefore require accurate and reliable detection methods. In this paper, we present an advanced, explainable machine…

Cloud segmentation is a critical challenge in remote sensing image interpretation, as its accuracy directly impacts the effectiveness of subsequent data processing and analysis. Recently, vision foundation models (VFM) have demonstrated…

Reconstructing building floor plans from point cloud data is key for indoor navigation, BIM, and precise measurements. Traditional methods like geometric algorithms and Mask R-CNN-based deep learning often face issues with noise, limited…

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing…

Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum…

While 3D Gaussian Splatting enables high-quality real-time rendering, existing Gaussian-based frameworks for 3D semantic segmentation still face significant challenges in boundary recognition accuracy. To address this, we propose a novel…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

This paper addresses the task of separating ground points from airborne LiDAR point cloud data in urban areas. A novel ground filtering method using scan line segmentation is proposed here, which we call SLSGF. It utilizes the scan line…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

We present OffRoadTranSeg, the first end-to-end framework for semi-supervised segmentation in unstructured outdoor environment using transformers and automatic data selection for labelling. The offroad segmentation is a scene understanding…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current deep learning methods based on the clean label assumptions may fail with noisy labels. Yet,…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

Generating ground-level views and coherent 3D site models from aerial-only imagery is challenging due to extreme viewpoint changes, missing intermediate observations, and large scale variations. Existing methods either refine renderings…

Recent works recognized lidars as an inherently streaming data source and showed that the end-to-end latency of lidar perception models can be reduced significantly by operating on wedge-shaped point cloud sectors rather then the full point…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…

We introduce PointGauss, a novel point cloud-guided framework for real-time multi-object segmentation in Gaussian Splatting representations. Unlike existing methods that suffer from prolonged initialization and limited multi-view…

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…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…