Yixuan Xu

Hamidreza Fazlali, Yixuan Xu, Yuan Ren et al.

3D object detection using LiDAR data is an indispensable component for autonomous driving systems. Yet, only a few LiDAR-based 3D object detection methods leverage segmentation information to further guide the detection process. In this paper, we propose a novel multi-task framework that jointly performs 3D object detection and panoptic segmentation. In our method, the 3D object detection backbone in Bird's-Eye-View (BEV) plane is augmented by the injection of Range-View (RV) feature maps from the 3D panoptic segmentation backbone. This enables the detection backbone to leverage multi-view information to address the shortcomings of each projection view. Furthermore, foreground semantic information is incorporated to ease the detection task by highlighting the locations of each object class in the feature maps. Finally, a new center density heatmap generated based on the instance-level information further guides the detection backbone by suggesting possible box center locations for objects. Our method works with any BEV-based 3D object detection method, and as shown by extensive experiments on the nuScenes dataset, it provides significant performance gains. Notably, the proposed method based on a single-stage CenterPoint 3D object detection network achieved state-of-the-art performance on nuScenes 3D Detection Benchmark with 67.3 NDS.

Yixuan Xu, Hamidreza Fazlali, Yuan Ren et al.

LiDAR-based 3D object detection and panoptic segmentation are two crucial tasks in the perception systems of autonomous vehicles and robots. In this paper, we propose All-in-One Perception Network (AOP-Net), a LiDAR-based multi-task framework that combines 3D object detection and panoptic segmentation. In this method, a dual-task 3D backbone is developed to extract both panoptic- and detection-level features from the input LiDAR point cloud. Also, a new 2D backbone that intertwines Multi-Layer Perceptron (MLP) and convolution layers is designed to further improve the detection task performance. Finally, a novel module is proposed to guide the detection head by recovering useful features discarded during down-sampling operations in the 3D backbone. This module leverages estimated instance segmentation masks to recover detailed information from each candidate object. The AOP-Net achieves state-of-the-art performance for published works on the nuScenes benchmark for both 3D object detection and panoptic segmentation tasks. Also, experiments show that our method easily adapts to and significantly improves the performance of any BEV-based 3D object detection method.

Shiqi Tan, Hamidreza Fazlali, Yixuan Xu et al.

Range-View(RV)-based 3D point cloud segmentation is widely adopted due to its compact data form. However, RV-based methods fall short in providing robust segmentation for the occluded points and suffer from distortion of projected RGB images due to the sparse nature of 3D point clouds. To alleviate these problems, we propose a new LiDAR and Camera Range-view-based 3D point cloud semantic segmentation method (LaCRange). Specifically, a distortion-compensating knowledge distillation (DCKD) strategy is designed to remedy the adverse effect of RV projection of RGB images. Moreover, a context-based feature fusion module is introduced for robust and preservative sensor fusion. Finally, in order to address the limited resolution of RV and its insufficiency of 3D topology, a new point refinement scheme is devised for proper aggregation of features in 2D and augmentation of point features in 3D. We evaluated the proposed method on large-scale autonomous driving datasets \ie SemanticKITTI and nuScenes. In addition to being real-time, the proposed method achieves state-of-the-art results on nuScenes benchmark

Cheng Zeng, Yixuan Xu, Jiaqi Tian

This study explores the robustness of label noise classifiers, aiming to enhance model resilience against noisy data in complex real-world scenarios. Label noise in supervised learning, characterized by erroneous or imprecise labels, significantly impairs model performance. This research focuses on the increasingly pertinent issue of label noise's impact on practical applications. Addressing the prevalent challenge of inaccurate training data labels, we integrate adversarial machine learning (AML) and importance reweighting techniques. Our approach involves employing convolutional neural networks (CNN) as the foundational model, with an emphasis on parameter adjustment for individual training samples. This strategy is designed to heighten the model's focus on samples critically influencing performance.

Enxu Li, Ryan Razani, Yixuan Xu et al.

Panoptic segmentation aims to address semantic and instance segmentation simultaneously in a unified framework. However, an efficient solution of panoptic segmentation in applications like autonomous driving is still an open research problem. In this work, we propose a novel LiDAR-based panoptic system, called SMAC-Seg. We present a learnable sparse multi-directional attention clustering to segment multi-scale foreground instances. SMAC-Seg is a real-time clustering-based approach, which removes the complex proposal network to segment instances. Most existing clustering-based methods use the difference of the predicted and ground truth center offset as the only loss to supervise the instance centroid regression. However, this loss function only considers the centroid of the current object, but its relative position with respect to the neighbouring objects is not considered when learning to cluster. Thus, we propose to use a novel centroid-aware repel loss as an additional term to effectively supervise the network to differentiate each object cluster with its neighbours. Our experimental results show that SMAC-Seg achieves state-of-the-art performance among all real-time deployable networks on both large-scale public SemanticKITTI and nuScenes panoptic segmentation datasets.