Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation

• URL: http://arxiv.org/abs/2008.01550v1
• Date: Tue, 4 Aug 2020 13:56:19 GMT
• Title: Cylinder3D: An Effective 3D Framework for Driving-scene LiDAR Semantic Segmentation
• Authors: Hui Zhou, Xinge Zhu, Xiao Song, Yuexin Ma, Zhe Wang, Hongsheng Li, Dahua Lin
• Abstract summary: State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. A straightforward solution to tackle the issue of 3D-to-2D projection is to keep the 3D representation and process the points in the 3D space. We develop a 3D cylinder partition and a 3D cylinder convolution based framework, termed as Cylinder3D, which exploits the 3D topology relations and structures of driving-scene point clouds.
• Score: 87.54570024320354
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although this process makes the point cloud suitable for the 2D CNN-based networks, it inevitably alters and abandons the 3D topology and geometric relations. A straightforward solution to tackle the issue of 3D-to-2D projection is to keep the 3D representation and process the points in the 3D space. In this work, we first perform an in-depth analysis for different representations and backbones in 2D and 3D spaces, and reveal the effectiveness of 3D representations and networks on LiDAR segmentation. Then, we develop a 3D cylinder partition and a 3D cylinder convolution based framework, termed as Cylinder3D, which exploits the 3D topology relations and structures of driving-scene point clouds. Moreover, a dimension-decomposition based context modeling module is introduced to explore the high-rank context information in point clouds in a progressive manner. We evaluate the proposed model on a large-scale driving-scene dataset, i.e. SematicKITTI. Our method achieves state-of-the-art performance and outperforms existing methods by 6% in terms of mIoU.

Related papers

• DIRECT-3D: Learning Direct Text-to-3D Generation on Massive Noisy 3D Data [50.164670363633704]
  We present DIRECT-3D, a diffusion-based 3D generative model for creating high-quality 3D assets from text prompts. Our model is directly trained on extensive noisy and unaligned in-the-wild' 3D assets. We achieve state-of-the-art performance in both single-class generation and text-to-3D generation.
  arXiv  Detail & Related papers  (2024-06-06T17:58:15Z)
• Dynamic 3D Point Cloud Sequences as 2D Videos [81.46246338686478]
  3D point cloud sequences serve as one of the most common and practical representation modalities of real-world environments. We propose a novel generic representation called textitStructured Point Cloud Videos (SPCVs) SPCVs re-organizes a point cloud sequence as a 2D video with spatial smoothness and temporal consistency, where the pixel values correspond to the 3D coordinates of points.
  arXiv  Detail & Related papers  (2024-03-02T08:18:57Z)
• MvDeCor: Multi-view Dense Correspondence Learning for Fine-grained 3D Segmentation [91.6658845016214]
  We propose to utilize self-supervised techniques in the 2D domain for fine-grained 3D shape segmentation tasks. We render a 3D shape from multiple views, and set up a dense correspondence learning task within the contrastive learning framework. As a result, the learned 2D representations are view-invariant and geometrically consistent.
  arXiv  Detail & Related papers  (2022-08-18T00:48:15Z)
• Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR-based Perception [122.53774221136193]
  State-of-the-art methods for driving-scene LiDAR-based perception often project the point clouds to 2D space and then process them via 2D convolution. A natural remedy is to utilize the 3D voxelization and 3D convolution network. We propose a new framework for the outdoor LiDAR segmentation, where cylindrical partition and asymmetrical 3D convolution networks are designed to explore the 3D geometric pattern.
  arXiv  Detail & Related papers  (2021-09-12T06:25:11Z)
• AutoShape: Real-Time Shape-Aware Monocular 3D Object Detection [15.244852122106634]
  We propose an approach for incorporating the shape-aware 2D/3D constraints into the 3D detection framework. Specifically, we employ the deep neural network to learn distinguished 2D keypoints in the 2D image domain. For generating the ground truth of 2D/3D keypoints, an automatic model-fitting approach has been proposed.
  arXiv  Detail & Related papers  (2021-08-25T08:50:06Z)
• Exploring Deep 3D Spatial Encodings for Large-Scale 3D Scene Understanding [19.134536179555102]
  We propose an alternative approach to overcome the limitations of CNN based approaches by encoding the spatial features of raw 3D point clouds into undirected graph models. The proposed method achieves on par state-of-the-art accuracy with improved training time and model stability thus indicating strong potential for further research.
  arXiv  Detail & Related papers  (2020-11-29T12:56:19Z)
• Cylindrical and Asymmetrical 3D Convolution Networks for LiDAR Segmentation [81.02742110604161]
  State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. We propose a new framework for the outdoor LiDAR segmentation, where cylindrical partition and asymmetrical 3D convolution networks are designed to explore the 3D geometric pat-tern. Our method achieves the 1st place in the leaderboard of Semantic KITTI and outperforms existing methods on nuScenes with a noticeable margin, about 4%.
  arXiv  Detail & Related papers  (2020-11-19T18:53:11Z)
• Pointwise Attention-Based Atrous Convolutional Neural Networks [15.499267533387039]
  A pointwise attention-based atrous convolutional neural network architecture is proposed to efficiently deal with a large number of points. The proposed model has been evaluated on the two most important 3D point cloud datasets for the 3D semantic segmentation task. It achieves a reasonable performance compared to state-of-the-art models in terms of accuracy, with a much smaller number of parameters.
  arXiv  Detail & Related papers  (2019-12-27T13:12:58Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.