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

Recent success of vision foundation models have shown promising performance for the 2D perception tasks. However, it is difficult to train a 3D foundation network directly due to the limited dataset and it remains under explored whether…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

Edge vision systems combining sensing and embedded processing promise low-latency, decentralized, and energy-efficient solutions that forgo reliance on the cloud. As opposed to conventional frame-based vision sensors, event-based cameras…

This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Segment Anything Model (SAM) has emerged as a powerful tool for numerous vision applications. A key component that drives the impressive performance for zero-shot transfer and high versatility is a super large Transformer model trained on…

Segment Anything Model (SAM) is an advanced foundational model for image segmentation, which is gradually being applied to remote sensing images (RSIs). Due to the domain gap between RSIs and natural images, traditional methods typically…

Although deep models have greatly improved the accuracy and robustness of image segmentation, obtaining segmentation results with highly accurate boundaries and fine structures is still a challenging problem. In this paper, we propose a…

Open-world video anomaly detection (OWVAD) aims to detect and explain abnormal events under different anomaly definitions, which is important for applications such as intelligent surveillance and live-streaming content moderation. Recent…

A novel ``edge attention-based Convolutional Neural Network (CNN)'' is proposed in this research for object classification task. With the advent of advanced computing technology, CNN models have achieved to remarkable success, particularly…

Access to 3D point cloud representations has been widely facilitated by LiDAR sensors embedded in various mobile devices. This has led to an emerging need for fast and accurate point cloud processing techniques. In this paper, we revisit…

Real-time semantic segmentation plays an important role in practical applications such as self-driving and robots. Most semantic segmentation research focuses on improving estimation accuracy with little consideration on efficiency. Several…

With their meaningful geometry and their omnipresence in the 3D world, edges are extremely useful primitives in computer vision. 3D edges comprise of lines and curves, and methods to reconstruct them use either multi-view images or point…

As 3D Gaussian Splatting (3DGS) gains attention in immersive media and digital content creation, assessing the aesthetics of 3D scenes becomes important in helping creators build more visually compelling 3D content. However, existing…

Coordinating the design of sampling and sparse-dense matrix multiplication (SpMM) is crucial for accelerating graph neural networks (GNNs). However, due to irrational sampling strategies, existing methods face a trade-off between accuracy…

Estimating surface normals from 3D point clouds is critical for various applications, including surface reconstruction and rendering. While existing methods for normal estimation perform well in regions where normals change slowly, they…

Robust imitation learning for robot manipulation requires comprehensive 3D perception, yet many existing methods struggle in cluttered environments. Fixed camera view approaches are vulnerable to perspective changes, and 3D point cloud…

Promptable segmentation, introduced by the Segment Anything Model (SAM), is a promising approach for medical imaging, as it enables clinicians to guide and refine model predictions interactively. However, SAM's architecture is designed for…

Depth completion from sparse LiDAR measurements and corresponding RGB images is a prerequisite for accurate 3D perception in robotic systems. Existing methods achieve high accuracy on standard benchmarks but rely on heavy backbone…