Related papers: Learning to Drop Points for LiDAR Scan Synthesis
Simulating realistic radar data has the potential to significantly accelerate the development of data-driven approaches to radar processing. However, it is fraught with difficulty due to the notoriously complex image formation process. Here…
This paper proposes LONER, the first real-time LiDAR SLAM algorithm that uses a neural implicit scene representation. Existing implicit mapping methods for LiDAR show promising results in large-scale reconstruction, but either require…
Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…
Even though many existing 3D object detection algorithms rely mostly on camera and LiDAR, camera and LiDAR are prone to be affected by harsh weather and lighting conditions. On the other hand, radar is resistant to such conditions. However,…
Event cameras offer high-temporal-resolution sensing that remains reliable under high-speed motion and challenging lighting, making them promising for localization from LiDAR point clouds in GPS-denied and visually degraded environments.…
This paper addresses the limitations of existing 3D Gaussian Splatting (3DGS) methods, particularly their reliance on adaptive density control, which can lead to floating artifacts and inefficient resource usage. We propose a novel densify…
In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…
Diffusion models have been applied to 3D LiDAR scene completion due to their strong training stability and high completion quality. However, the slow sampling speed limits the practical application of diffusion-based scene completion models…
Machine learning in drug discovery has been focused on virtual screening of molecular libraries using discriminative models. Generative models are an entirely different approach that learn to represent and optimize molecules in a continuous…
Vertical beam dropout in spinning LiDAR sensors triggered by hardware aging, dust, snow, fog, or bright reflections removes entire vertical slices from the point cloud and severely degrades 3D perception in autonomous vehicles. This paper…
An autonomous driving system requires a 3D object detector, which must perceive all present road agents reliably to navigate an environment safely. However, real-world driving datasets often suffer from the problem of data imbalance, which…
Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time, photorealistic scene reconstruction. However, conventional 3DGS frameworks typically rely on sparse point clouds derived from Structure-from-Motion (SfM), which…
Recently deep generative models have achieved impressive progress in modeling the distribution of training data. In this work, we present for the first time a generative model for 4D light field patches using variational autoencoders to…
Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…
Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…
Generative Adversarial Networks (GANs), as a framework for estimating generative models via an adversarial process, have attracted huge attention and have proven to be powerful in a variety of tasks. However, training GANs is well known for…
For humans, visual understanding is inherently generative: given a 3D shape, we can postulate how it would look in the world; given a 2D image, we can infer the 3D structure that likely gave rise to it. We can thus translate between the 2D…
As deep learning continues to advance, self-supervised learning has made considerable strides. It allows 2D image encoders to extract useful features for various downstream tasks, including those related to vision-based systems.…
State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…
Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…