相关论文: ESAM++: Efficient Online 3D Perception on the Edge

Open-vocabulary 3D scene understanding presents a significant challenge in the field. Recent works have sought to transfer knowledge embedded in vision-language models from 2D to 3D domains. However, these approaches often require prior…

We present SLNet, a lightweight backbone for 3D point cloud recognition designed to achieve strong performance without the computational cost of many recent attention, graph, and deep MLP based models. The model is built on two simple…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world,…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

The ability to promptly respond to environmental changes is crucial for the perception system of autonomous driving. Recently, a new task called streaming perception was proposed. It jointly evaluate the latency and accuracy into a single…

Due to real-time image semantic segmentation needs on power constrained edge devices, there has been an increasing desire to design lightweight semantic segmentation neural network, to simultaneously reduce computational cost and increase…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

We propose a network architecture to perform efficient scene understanding. This work presents three main novelties: the first is an Improved Guided Upsampling Module that can replace in toto the decoder part in common semantic segmentation…

Real-time semantic segmentation has received considerable attention due to growing demands in many practical applications, such as autonomous vehicles, robotics, etc. Existing real-time segmentation approaches often utilize feature fusion…

We present SAM4EM, a novel approach for 3D segmentation of complex neural structures in electron microscopy (EM) data by leveraging the Segment Anything Model (SAM) alongside advanced fine-tuning strategies. Our contributions include the…

The Segment Anything Model 3 (SAM3) advances visual understanding with Promptable Concept Segmentation (PCS) across images and videos, but its unified architecture (shared vision backbone, DETR-style detector, dense-memory tracker) remains…

Accurate and rapid railway track segmentation can assist automatic train driving and is a key step in early warning to fixed or moving obstacles on the railway track. However, certain existing algorithms tailored for track segmentation…

Multisensor fusion is essential for autonomous vehicles to accurately perceive, analyze, and plan their trajectories within complex environments. This typically involves the integration of data from LiDAR sensors and cameras, which…

We present an endpoint box regression module(epBRM), which is designed for predicting precise 3D bounding boxes using raw LiDAR 3D point clouds. The proposed epBRM is built with sequence of small networks and is computationally lightweight.…

Edge detection remains a fundamental yet challenging task in computer vision, especially under varying illumination, noise, and complex scene conditions. This paper introduces a Hybrid Multi-Stage Learning Framework that integrates…

For Edge AI applications, deploying online learning and adaptation on resource-constrained embedded devices can deal with fast sensor-generated streams of data in changing environments. However, since maintaining low-latency and…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…