Few-shot 3D LiDAR Semantic Segmentation for Autonomous Driving

02/17/2023
by   Jilin Mei, et al.
0

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot semantic segmentation methods focus on camera data, and most of them only predict the novel classes without considering the base classes. This setting cannot be directly applied to autonomous driving due to safety concerns. Thus, we propose a few-shot 3D LiDAR semantic segmentation method that predicts both novel classes and base classes simultaneously. Our method tries to solve the background ambiguity problem in generalized few-shot semantic segmentation. We first review the original cross-entropy and knowledge distillation losses, then propose a new loss function that incorporates the background information to achieve 3D LiDAR few-shot semantic segmentation. Extensive experiments on SemanticKITTI demonstrate the effectiveness of our method.

READ FULL TEXT

page 1

page 2

page 3

page 4

research
04/12/2023

Few Shot Semantic Segmentation: a review of methodologies and open challenges

Semantic segmentation assigns category labels to each pixel in an image,...
research
06/08/2020

Are We Hungry for 3D LiDAR Data for Semantic Segmentation?

3D LiDAR semantic segmentation is a pivotal task that is widely involved...
research
09/03/2018

Semantic Segmentation of 3D LiDAR Data in Dynamic Scene Using Semi-supervised Learning

This work studies the semantic segmentation of 3D LiDAR data in dynamic ...
research
03/01/2022

Understanding the Challenges When 3D Semantic Segmentation Faces Class Imbalanced and OOD Data

3D semantic segmentation (3DSS) is an essential process in the creation ...
research
06/26/2019

End-to-End 3D-PointCloud Semantic Segmentation for Autonomous Driving

3D semantic scene labeling is a fundamental task for Autonomous Driving....
research
10/24/2018

Automated Evaluation of Semantic Segmentation Robustness for Autonomous Driving

One of the fundamental challenges in the design of perception systems fo...
research
07/04/2022

Open-world Semantic Segmentation for LIDAR Point Clouds

Current methods for LIDAR semantic segmentation are not robust enough fo...

Please sign up or login with your details

Forgot password? Click here to reset