The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this letter, we address the problem of moving object segmentation from 3D LiDAR scans. We propose a novel approach that pushes the current state of the art in LiDAR-only moving object segmentation forward to provide relevant information for autonomous robots and other vehicles. Instead of segmenting the point cloud semantically, i.e., predicting the semantic classes such as vehicles, pedestrians, roads, etc., our approach accurately segments the scene into moving and static objects, i.e., also distinguishing between moving cars vs. parked cars. Our proposed approach exploits sequential range images from a rotating 3D LiDAR sensor as an intermediate representation combined with a convolutional neural network and runs faster than the frame rate of the sensor. We compare our approach to several other state-of-the-art methods showing superior segmentation quality in urban environments. Additionally, we created a new benchmark for LiDAR-based moving object segmentation based on SemanticKITTI. We published it to allow other researchers to compare their approaches transparently and we furthermore published our code.

Despite their recent successes, generative adversarial networks (GANs) for semantic image synthesis still suffer from poor image quality when trained with only adversarial supervision. Previously, additionally employing the VGG-based perceptual loss has helped to overcome this issue, significantly improving the synthesis quality, but at the same time limited the progress of GAN models for semantic image synthesis. In this work, we propose a novel, simplified GAN model, which needs only adversarial supervision to achieve high quality results. We re-design the discriminator as a semantic segmentation network, directly using the given semantic label maps as the ground truth for training. By providing stronger supervision to the discriminator as well as to the generator through spatially- and semantically-aware discriminator feedback, we are able to synthesize images of higher fidelity and with a better alignment to their input label maps, making the use of the perceptual loss superfluous. Furthermore, we enable high-quality multi-modal image synthesis through global and local sampling of a 3D noise tensor injected into the generator, which allows complete or partial image editing. We show that images synthesized by our model are more diverse and follow the color and texture distributions of real images more closely. We achieve a strong improvement in image synthesis quality over prior state-of-the-art models across the commonly used ADE20K, Cityscapes, and COCO-Stuff datasets using only adversarial supervision. In addition, we investigate semantic image synthesis under severe class imbalance and sparse annotations, which are common aspects in practical applications but were overlooked in prior works. To this end, we evaluate our model on LVIS, a dataset originally introduced for long-tailed object recognition. We thereby demonstrate high performance of our model in the sparse and unbalanced data regimes, achieved by means of the proposed 3D noise and the ability of our discriminator to balance class contributions directly in the loss function. Our code and pretrained models are available at https://github.com/boschresearch/OASIS.

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles and robots, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud use complex spatial aggregation operations, which are very expensive and difficult to deploy on embedded platforms. As an alternative, projection-based methods are more efficient and can run on embedded hardware. However, current projection-based methods either have a low accuracy or require millions of parameters. In this letter, we therefore propose a projection-based method, called Multi-scale Interaction Network (MINet), which is very efficient and accurate. The network uses multiple paths with different scales and balances the computational resources between the scales. Additional dense interactions between the scales avoid redundant computations and make the network highly efficient. The proposed network outperforms point-based, image-based, and projection-based methods in terms of accuracy, number of parameters, and runtime. Moreover, the network processes more than 24 scans, captured by a high-resolution LiDAR sensor with 64 beams, per second on an embedded platform, which is higher than the framerate of the sensor. The network is therefore suitable for robotics applications.

Action recognition has become a rapidly developing research field. But with the increasing demand for large-scale data, the need of hand-annotated data for training becomes more and more impractical. One way to avoid frame-based annotation is the use of action ordering information to learn the respective action classes. We propose a hierarchical approach to address the problem of weakly supervised learning from ordered action labels by structuring recognition in a coarse-to-fine manner. Given a set of videos and an ordered list of occurring actions, we infer the start and end of the related action classes and train the respective action classifiers without any need for hand labeled frame boundaries by combining a framewise RNN model with a coarse probabilistic inference. This combination allows for the temporal alignment of long sequences and thus, for an iterative training of both elements. While this system alone already generates good results, we show that the performance can be improved by approximating the number of subactions to the characteristics of different action classes as well as by the introduction of a regularizing length prior. The proposed system is evaluated on two benchmarks, the Breakfast and the Hollywood extended dataset, showing a competitive performance on temporal action segmentation and alignment.

Since annotating and curating large datasets is very expensive, there is a need to transfer the knowledge from existing annotated datasets to unlabelled data. Data that is relevant for a specific application, however, usually differs from publicly available datasets since it is sampled from a different domain. While domain adaptation methods compensate for such a domain shift, they assume that all categories in the target domain are known and match the categories in the source domain. Since this assumption is violated under real-world conditions, we propose an approach for open set domain adaptation where the target domain contains instances of categories that are not present in the source domain. The proposed approach achieves state-of-the-art results on various datasets for image classification and action recognition. Since the approach can be used for open set and closed set domain adaptation, as well as unsupervised and semi-supervised domain adaptation, it is a versatile tool for many applications.