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Real scans always miss partial geometries of objects due to the self-occlusions, external-occlusions, and limited sensor resolutions. Point cloud completion aims to refer the complete shapes for incomplete 3D scans of objects. Current deep…
Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…
Traffic prediction is essential for the progression of Intelligent Transportation Systems (ITS) and the vision of smart cities. While Spatial-Temporal Graph Neural Networks (STGNNs) have shown promise in this domain by leveraging Graph…
LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…
Semantic scene completion is the task of jointly estimating 3D geometry and semantics of objects and surfaces within a given extent. This is a particularly challenging task on real-world data that is sparse and occluded. We propose a scene…
Understanding the world around us and making decisions about the future is a critical component to human intelligence. As autonomous systems continue to develop, their ability to reason about the future will be the key to their success.…
Self-supervised depth estimation has drawn much attention in recent years as it does not require labeled data but image sequences. Moreover, it can be conveniently used in various applications, such as autonomous driving, robotics,…
Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or…
We present a novel approach that converts partial and noisy RGB-D scans into high-quality 3D scene reconstructions by inferring unobserved scene geometry. Our approach is fully self-supervised and can hence be trained solely on real-world,…
Neural networks has been successfully used in the processing of Lidar data, especially in the scenario of autonomous driving. However, existing methods heavily rely on pre-processing of the pulse signals derived from Lidar sensors and…
State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…
Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…
In this paper, we propose deep learning architectures (FNN, CNN and LSTM) to forecast a regression model for time dependent data. These algorithm's are designed to handle Floating Car Data (FCD) historic speeds to predict road traffic data.…
Reconstructing 3D vehicles from noisy and sparse partial point clouds is of great significance to autonomous driving. Most existing 3D reconstruction methods cannot be directly applied to this problem because they are elaborately designed…
Accurate video prediction by deep neural networks, especially for dynamic regions, is a challenging task in computer vision for critical applications such as autonomous driving, remote working, and telemedicine. Due to inherent…
Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…
In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…
Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…
Motion planning for autonomous driving must account for multi-modal uncertainty in both the intentions and trajectories of surrounding vehicles. Handling uncertainty in a worst-case manner guarantees robustness but often leads to excessive…
LiDAR depth maps provide environmental guidance in a variety of applications. However, such depth maps are typically sparse and insufficient for complex tasks such as autonomous navigation. State of the art methods use image guided neural…