Related papers: PolarStream: Streaming Lidar Object Detection and …
This paper shows the effectiveness of 2D backbone scaling and pretraining for pillar-based 3D object detectors. Pillar-based methods mainly employ randomly initialized 2D convolution neural network (ConvNet) for feature extraction and fail…
Many well-known, real-world problems involve dynamic data which describe the relationship among the entities. Hypergraphs are powerful combinatorial structures that are frequently used to model such data. For many of today's data-centric…
LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…
In this study, we propose a novel parallel processing method for point cloud ground segmentation, aimed at the technology evolution from mechanical to solid-state Lidar (SSL). We first benchmark point-based, grid-based, and range…
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…
LiDAR devices obtain a 3D representation of a space. Due to the large size of the resulting datasets, there already exist storage methods that use compression and present some properties that resemble those of compact data structures.…
Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…
Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite…
LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…
Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…
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…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…
LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…
Leveraging recent diffusion models, LiDAR-based large-scale 3D scene generation has achieved great success. While recent voxel-based approaches can generate both geometric structures and semantic labels, existing range-view methods are…
Recently, polar coordinate-based representations have shown promise for 3D perceptual tasks. Compared to Cartesian methods, polar grids provide a viable alternative, offering better detail preservation in nearby spaces while covering larger…
We propose a simple yet effective proposal-free architecture for lidar panoptic segmentation. We jointly optimize both semantic segmentation and class-agnostic instance classification in a single network using a pillar-based bird's-eye view…
State-of-the-art approaches for the semantic labeling of LiDAR point clouds heavily rely on the use of deep Convolutional Neural Networks (CNNs). However, transferring network architectures across different LiDAR sensor types represents a…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
In this paper, we shed light on how an adaptive, efficient error coding in the transport layer helps ensure the application requirements. We recap the use of MDS codes and show that binary coding can significantly reduce the complexity and…