A Novel Decomposed Feature-Oriented Framework for Open-Set Semantic Segmentation on LiDAR Data

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown classes, which is common in real-world applications. In this paper, we propose a feature-oriented framework for open-set semantic segmentation on LiDAR data, capable of identifying unknown objects while retaining the ability to classify known ones. We design a decomposed dual-decoder network to simultaneously perform closed-set semantic segmentation and generate distinctive features for unknown objects. The network is trained with multi-objective loss functions to capture the characteristics of known and unknown objects. Using the extracted features, we introduce an anomaly detection mechanism to identify unknown objects. By integrating the results of close-set semantic segmentation and anomaly detection, we achieve effective feature-driven LiDAR open-set semantic segmentation. Evaluations on both SemanticKITTI and nuScenes datasets demonstrate that our proposed framework significantly outperforms state-of-the-art methods. The source code will be made publicly available at https://github.com/nubot-nudt/DOSS.

A Polarization Image Dehazing Method Based on the Principle of Physical Diffusion

Computer vision is increasingly used in areas such as unmanned vehicles, surveillance systems and remote sensing. However, in foggy scenarios, image degradation leads to loss of target details, which seriously affects the accuracy and effectiveness of these vision tasks. Polarized light, due to the fact that its electromagnetic waves vibrate in a specific direction, is able to resist scattering and refraction effects in complex media more effectively compared to unpolarized light. As a result, polarized light has a greater ability to maintain its polarization characteristics in complex transmission media and under long-distance imaging conditions. This property makes polarized imaging especially suitable for complex scenes such as outdoor and underwater, especially in foggy environments, where higher quality images can be obtained. Based on this advantage, we propose an innovative semi-physical polarization dehazing method that does not rely on an external light source. The method simulates the diffusion process of fog and designs a diffusion kernel that corresponds to the image blurriness caused by this diffusion. By employing spatiotemporal Fourier transforms and deconvolution operations, the method recovers the state of fog droplets prior to diffusion and the light inversion distribution of objects. This approach effectively achieves dehazing and detail enhancement of the scene.