Xiaoyang Wu

Youquan Liu, Lingdong Kong, Xiaoyang Wu et al.

A unified and versatile LiDAR segmentation model with strong robustness and generalizability is desirable for safe autonomous driving perception. This work presents M3Net, a one-of-a-kind framework for fulfilling multi-task, multi-dataset, multi-modality LiDAR segmentation in a universal manner using just a single set of parameters. To better exploit data volume and diversity, we first combine large-scale driving datasets acquired by different types of sensors from diverse scenes and then conduct alignments in three spaces, namely data, feature, and label spaces, during the training. As a result, M3Net is capable of taming heterogeneous data for training state-of-the-art LiDAR segmentation models. Extensive experiments on twelve LiDAR segmentation datasets verify our effectiveness. Notably, using a shared set of parameters, M3Net achieves 75.1%, 83.1%, and 72.4% mIoU scores, respectively, on the official benchmarks of SemanticKITTI, nuScenes, and Waymo Open.

Xiaodan Song, Jiabao Yao, Lulu Zhou et al.

Loop filters are used in video coding to remove artifacts or improve performance. Recent advances in deploying convolutional neural network (CNN) to replace traditional loop filters show large gains but with problems for practical application. First, different model is used for frames encoded with different quantization parameter (QP), respectively. It is expensive for hardware. Second, float points operation in CNN leads to inconsistency between encoding and decoding across different platforms. Third, redundancy within CNN model consumes precious computational resources. This paper proposes a CNN as the loop filter for intra frames and proposes a scheme to solve the above problems. It aims to design a single CNN model with low redundancy to adapt to decoded frames with different qualities and ensure consistency. To adapt to reconstructions with different qualities, both reconstruction and QP are taken as inputs. After training, the obtained model is compressed to reduce redundancy. To ensure consistency, dynamic fixed points (DFP) are adopted in testing CNN. Parameters in the compressed model are first quantized to DFP and then used for inference of CNN. Outputs of each layer in CNN are computed by DFP operations. Experimental results on JEM 7.0 report 3.14%, 5.21%, 6.28% BD-rate savings for luma and two chroma components with all intra configuration when replacing all traditional filters.