Related papers: Mitigating Shadows in Lidar Scan Matching using Sp…
Fusing LiDAR and camera information is essential for achieving accurate and reliable 3D object detection in autonomous driving systems. This is challenging due to the difficulty of combining multi-granularity geometric and semantic features…
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…
With the recent development of high-end LiDARs, more and more systems are able to continuously map the environment while moving and producing spatially redundant information. However, none of the previous approaches were able to effectively…
Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a…
Mitigating errors in quantum information processing devices is especially important in the absence of fault tolerance. An effective method in suppressing state-preparation errors is using multiple copies to distill the ideal component from…
We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the…
This paper presents a new method for shadow removal using unpaired data, enabling us to avoid tedious annotations and obtain more diverse training samples. However, directly employing adversarial learning and cycle-consistency constraints…
2D face analysis techniques, such as face landmarking, face recognition and face verification, are reasonably dependent on illumination conditions which are usually uncontrolled and unpredictable in the real world. An illumination robust…
LiDAR-camera fusion can enhance the performance of 3D object detection by utilizing complementary information between depth-aware LiDAR points and semantically rich images. Existing voxel-based methods face significant challenges when…
Natural image matting, which separates foreground from background, is a very important intermediate step in recent computer vision algorithms. However, it is severely underconstrained and difficult to solve. State-of-the-art approaches…
Shadows encode rich information about scene geometry and illumination, yet existing methods either predict a unified shadow mask or overlook attached shadows entirely. We address this gap by proposing a framework for jointly detecting cast…
Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…
Autonomous Vehicles (AVs) are mostly reliant on LiDAR sensors which enable spatial perception of their surroundings and help make driving decisions. Recent works demonstrated attacks that aim to hide objects from AV perception, which can…
A user-centric method for fast, interactive, robust and high-quality shadow removal is presented. Our algorithm can perform detection and removal in a range of difficult cases: such as highly textured and colored shadows. To perform…
LiDAR depth completion is a task that predicts depth values for every pixel on the corresponding camera frame, although only sparse LiDAR points are available. Most of the existing state-of-the-art solutions are based on deep neural…
3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…
LiDAR (Light Detection and Ranging) SLAM (Simultaneous Localization and Mapping) serves as a basis for indoor cleaning, navigation, and many other useful applications in both industry and household. From a series of LiDAR scans, it…
Shadow estimation is a method for deducing numerous properties of an unknown quantum state through a limited set of measurements, which suffers from noises in quantum devices. In this paper, we introduce an error-mitigated shadow estimation…
Interferometric Synthetic Aperture Radar (InSAR) Imaging methods are usually based on algorithms of match-filtering type, without considering the scene's characteristic, which causes limited imaging quality. Besides, post-processing steps…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…