Related papers: Learning to Drop Points for LiDAR Scan Synthesis

We present LiDAR-GS, a Gaussian Splatting (GS) method for real-time, high-fidelity re-simulation of LiDAR scans in public urban road scenes. Recent GS methods proposed for cameras have achieved significant advancements in real-time…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

Although neural radiance fields (NeRFs) have achieved triumphs in image novel view synthesis (NVS), LiDAR NVS remains largely unexplored. Previous LiDAR NVS methods employ a simple shift from image NVS methods while ignoring the dynamic…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

Point-clouds are a popular choice for vision and graphics tasks due to their accurate shape description and direct acquisition from range-scanners. This demands the ability to synthesize and reconstruct high-quality point-clouds. Current…

Representing 3D shape is a fundamental problem in artificial intelligence, which has numerous applications within computer vision and graphics. One avenue that has recently begun to be explored is the use of latent representations of…

We propose a method for constructing generative models of 3D objects from a single 3D mesh and improving them through unsupervised low-shot learning from 2D images. Our method produces a 3D morphable model that represents shape and albedo…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

Imaging system design is a complex, time-consuming, and largely manual process; LiDAR design, ubiquitous in mobile devices, autonomous vehicles, and aerial imaging platforms, adds further complexity through unique spatial and temporal…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Keypoint detection and description play a pivotal role in various robotics and autonomous applications including visual odometry (VO), visual navigation, and Simultaneous localization and mapping (SLAM). While a myriad of keypoint detectors…

In this work, we propose a disruptively frugal LiDAR perception dataflow that generates rather than senses parts of the environment that are either predictable based on the extensive training of the environment or have limited consequence…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…