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Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

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…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

Semantic image segmentation plays a pivotal role in many vision applications including autonomous driving and medical image analysis. Most of the former approaches move towards enhancing the performance in terms of accuracy with a little…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

LIDAR sensors are usually used to provide autonomous vehicles with 3D representations of their environment. In ideal conditions, geometrical models could detect the road in LIDAR scans, at the cost of a manual tuning of numerical…

With the development of range sensors such as LIDAR and time-of-flight cameras, 3D point cloud scans have become ubiquitous in computer vision applications, the most prominent ones being gesture recognition and autonomous driving.…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

This paper addresses the problem of single image depth estimation (SIDE), focusing on improving the quality of deep neural network predictions. In a supervised learning scenario, the quality of predictions is intrinsically related to the…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

To navigate through urban roads, an automated vehicle must be able to perceive and recognize objects in a three-dimensional environment. A high-level contextual understanding of the surroundings is necessary to plan and execute accurate…

3D object detection plays a fundamental role in enabling autonomous driving, which is regarded as the significant key to unlocking the bottleneck of contemporary transportation systems from the perspectives of safety, mobility, and…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…