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The mining sector increasingly adopts digital tools to improve operational efficiency, safety, and data-driven decision-making. One of the key challenges remains the reliable acquisition of high-resolution, geo-referenced spatial…
3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…
Laser scanning can provide timely assessments of mine sites despite adverse challenges in the operational environment. Although there are several published articles on laser scanning, there is a need to review them in the context of…
Current global re-localization algorithms are built on top of localization and mapping methods andheavily rely on scan matching and direct point cloud feature extraction and therefore are vulnerable infeatureless demanding environments like…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
3D object detection is fundamentally important for various emerging applications, including autonomous driving and robotics. A key requirement for training an accurate 3D object detector is the availability of a large amount of LiDAR-based…
LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…
Monocular 3D lane detection is essential for autonomous driving, but challenging due to the inherent lack of explicit spatial information. Multi-modal approaches rely on expensive depth sensors, while methods incorporating fully-supervised…
The 3D documentation of the tunnel surface during construction requires fast and robust measurement systems. In the solution proposed in this paper, during tunnel advance a single camera is taking pictures of the tunnel surface from several…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…
Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…
Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…
We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…
3D object reconstruction based on deep neural networks has gained increasing attention in recent years. However, 3D reconstruction of underground objects to generate point cloud maps remains a challenge. Ground Penetrating Radar (GPR) is…
3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…
Indoor 3D object detection is an essential task in single image scene understanding, impacting spatial cognition fundamentally in visual reasoning. Existing works on 3D object detection from a single image either pursue this goal through…
The advancement of UAV technology has enabled efficient, non-contact structural health monitoring. Combined with photogrammetry, UAVs can capture high-resolution scans and reconstruct detailed 3D models of infrastructure. However, a key…