相关论文: Joint 2D-3D Segmentation and Association in Street…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal…

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.…

Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

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…

Spatial relationships between objects provide important information for text-based image retrieval. As users are more likely to describe a scene from a real world perspective, using 3D spatial relationships rather than 2D relationships that…

Detecting and segmenting moving objects from a moving monocular camera is challenging in the presence of unknown camera motion, diverse object motions and complex scene structures. Most existing methods rely on a single motion cue to…

Realistic scene reconstruction in driving scenarios poses significant challenges due to fast-moving objects. Most existing methods rely on labor-intensive manual labeling of object poses to reconstruct dynamic objects in canonical space and…

Urban 3D modeling from satellite images requires accurate semantic segmentation to delineate urban features, multiple view stereo for 3D reconstruction of surface heights, and 3D model fitting to produce compact models with accurate surface…

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

State-of-the-art 3D semantic segmentation models are trained on off-the-shelf public benchmarks, but they will inevitably face the challenge of recognition accuracy drop when these well-trained models are deployed to a new domain. In this…

This paper addresses the task of unsupervised video multi-object segmentation. Current approaches follow a two-stage paradigm: 1) detect object proposals using pre-trained Mask R-CNN, and 2) conduct generic feature matching for temporal…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

Stereo videos for the dynamic scenes often show unpleasant blurred effects due to the camera motion and the multiple moving objects with large depth variations. Given consecutive blurred stereo video frames, we aim to recover the latent…

In this paper, we propose a method to obtain a compact and accurate 3D wireframe representation from a single image by effectively exploiting global structural regularities. Our method trains a convolutional neural network to simultaneously…

Semantic segmentation aims to robustly predict coherent class labels for entire regions of an image. It is a scene understanding task that powers real-world applications (e.g., autonomous navigation). One important application, the use of…

Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…