Related papers: Mitigating Shadows in Lidar Scan Matching using Sp…
In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…
This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…
Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…
This paper introduces SHIELD, a Spherical-Projection Hybrid-Frontier Integration for Efficient LiDAR-based Drone exploration method. Although laser LiDAR offers the advantage of a wide field of view, its application in UAV exploration still…
Shadow detection and removal is a challenging problem in the analysis of hyperspectral images. Yet, this step is crucial for analyzing data for remote sensing applications like methane detection. In this work, we develop a shadow detection…
This project aims to adopt preprocessing operations to get less distortions for shadow image enlargement. The preprocessing operations consists of three main steps: first enlarge the original shadow image by using any kind of interpolation…
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…
Because scanning-LIDAR sensors require finite time to create a point cloud, sensor motion during a scan warps the resulting image, a phenomenon known as motion distortion or rolling shutter. Motion-distortion correction methods exist, but…
We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…
Spectral unmixing methods incorporating spatial regularizations have demonstrated increasing interest. Although spatial regularizers which promote smoothness of the abundance maps have been widely used, they may overly smooth these maps…
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…
Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…
This paper addresses the task of separating ground points from airborne LiDAR point cloud data in urban areas. A novel ground filtering method using scan line segmentation is proposed here, which we call SLSGF. It utilizes the scan line…
With the widespread application of Light Detection and Ranging (LiDAR) technology in fields such as autonomous driving, robot navigation, and terrain mapping, the importance of edge detection in LiDAR images has become increasingly…
The existing Video Synthetic Aperture Radar (ViSAR) moving target shadow detection methods based on deep neural networks mostly generate numerous false alarms and missing detections, because of the foreground-background…
As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…
Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…
Spectral variability significantly impacts the accuracy and convergence of hyperspectral unmixing algorithms. Many methods address complex spectral variability; yet large-scale distortions to the scale of the observed pixel signatures due…
This paper proposes a 3D LiDAR SLAM algorithm named Ground-SLAM, which exploits grounds in structured multi-floor environments to compress the pose drift mainly caused by LiDAR measurement bias. Ground-SLAM is developed based on the…
Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…