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

We propose SFMNet, a novel 3D sparse detector that combines the efficiency of sparse convolutions with the ability to model long-range dependencies. While traditional sparse convolution techniques efficiently capture local structures, they…

In recent years, compact and efficient scene understanding representations have gained popularity in increasing situational awareness and autonomy of robotic systems. In this work, we illustrate the concept of a panoptic edge segmentation…

As the demand for enabling high-level autonomous driving has increased in recent years and visual perception is one of the critical features to enable fully autonomous driving, in this paper, we introduce an efficient approach for…

Segmentation is a fundamental problem in surgical scene analysis using artificial intelligence. However, the inherent data scarcity in this domain makes it challenging to adapt traditional segmentation techniques for this task. To tackle…

Semantic scene completion is the task of predicting a complete 3D representation of volumetric occupancy with corresponding semantic labels for a scene from a single point of view. Previous works on Semantic Scene Completion from RGB-D data…

We propose UniSeg3D, a unified 3D scene understanding framework that achieves panoptic, semantic, instance, interactive, referring, and open-vocabulary segmentation tasks within a single model. Most previous 3D segmentation approaches are…

We present EfficientViT-SAM, a new family of accelerated segment anything models. We retain SAM's lightweight prompt encoder and mask decoder while replacing the heavy image encoder with EfficientViT. For the training, we begin with the…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

Semantic segmentation is a fundamental task in computer vision that involves dense pixel-wise classification for scene understanding. Despite significant progress, achieving high accuracy while maintaining real-time performance remains a…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

The encoder-decoder framework is state-of-the-art for offline semantic image segmentation. Since the rise in autonomous systems, real-time computation is increasingly desirable. In this paper, we introduce fast segmentation convolutional…

Query-based 3D scene instance segmentation from point clouds has attained notable performance. However, existing methods suffer from the query initialization dilemma due to the sparse nature of point clouds and rely on computationally…

In this work we propose 3D-FFS, a novel approach to make sensor fusion based 3D object detection networks significantly faster using a class of computationally inexpensive heuristics. Existing sensor fusion based networks generate 3D region…

The rapid development of AR/VR brings tremendous demands for 3D content. While the widely-used Computer-Aided Design (CAD) method requires a time-consuming and labor-intensive modeling process, sketch-based 3D modeling offers a potential…

Sharpness-Aware Minimization (SAM) has emerged as a promising approach for effectively reducing the generalization error. However, SAM incurs twice the computational cost compared to base optimizer (e.g., SGD). We propose Asymptotic…

Previous works based on Segment Anything Model (SAM) have achieved promising performance in unified scene text detection and layout analysis. However, the typical reliance on pixel-level text segmentation for sampling thousands of…

Promptable segmentation has emerged as a powerful paradigm in computer vision, enabling users to guide models in parsing complex scenes with prompts such as clicks, boxes, or textual cues. Recent advances, exemplified by the Segment…

Tooth point cloud segmentation is a fundamental task in many orthodontic applications. Current research mainly focuses on fully supervised learning which demands expensive and tedious manual point-wise annotation. Although recent…

Real-time 3D reconstruction is crucial for robotics and augmented reality, yet current simultaneous localization and mapping(SLAM) approaches often struggle to maintain structural consistency and robust pose estimation in the presence of…