Related papers: Online Segmentation of LiDAR Sequences: Dataset an…

Large-scale LiDAR-based point cloud semantic segmentation is a critical task in autonomous driving perception. Almost all of the previous state-of-the-art LiDAR semantic segmentation methods are variants of sparse 3D convolution. Although…

Synthetic aperture radar (SAR) data is becoming increasingly available to a wide range of users through commercial service providers with resolutions reaching 0.5m/px. Segmenting SAR data still requires skilled personnel, limiting the…

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…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

Place recognition is crucial for robot localization and loop closure in simultaneous localization and mapping (SLAM). Light Detection and Ranging (LiDAR), known for its robust sensing capabilities and measurement consistency even in varying…

While generative world models have advanced video and occupancy-based data synthesis, LiDAR generation remains underexplored despite its importance for accurate 3D perception. Extending generation to 4D LiDAR data introduces challenges in…

As LiDAR sensors have become ubiquitous, the need for an efficient LiDAR data compression algorithm has increased. Modern LiDARs produce gigabytes of scan data per hour and are often used in applications with limited compute, bandwidth, and…

Generative world models have become essential data engines for autonomous driving, yet most existing efforts focus on videos or occupancy grids, overlooking the unique LiDAR properties. Extending LiDAR generation to dynamic 4D world…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

Road segmentation is a fundamental perception task for autonomous driving and intelligent robotic systems, requiring both high accuracy and real-time inference, especially for deployment on resource-constrained edge devices. Existing…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

This paper presents an approach for applying camera perception techniques to spinning LiDAR data. To improve the robustness of long-term change detection from a 3D LiDAR, range and intensity information are rendered into virtual…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…