Related papers: A Realism Metric for Generated LiDAR Point Clouds

Score based generative models are a new class of generative models that have been shown to accurately generate high dimensional calorimeter datasets. Recent advances in generative models have used images with 3D voxels to represent and…

Simulation is increasingly being used for generating large labelled datasets in many machine learning problems. Recent methods have focused on adjusting simulator parameters with the goal of maximising accuracy on a validation task, usually…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

Recently, 3D LiDAR has emerged as a promising technique in the field of gait-based person identification, serving as an alternative to traditional RGB cameras, due to its robustness under varying lighting conditions and its ability to…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

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…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…

Image-generating machine learning models are typically trained with loss functions based on distance in the image space. This often leads to over-smoothed results. We propose a class of loss functions, which we call deep perceptual…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

Many synoptic surveys are observing large parts of the sky multiple times. The resulting lightcurves provide a wonderful window to the dynamic nature of the universe. However, there are many significant challenges in analyzing these light…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

In this paper, we propose a novel 3D registration paradigm, Generative Point Cloud Registration, which bridges advanced 2D generative models with 3D matching tasks to enhance registration performance. Our key idea is to generate cross-view…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

Nowadays, photogrammetrically derived point clouds are widely used in many civilian applications due to their low cost and flexibility in acquisition. Typically, photogrammetric point clouds are assessed through reference data such as LiDAR…

3D semantic scene understanding remains a long-standing challenge in the 3D computer vision community. One of the key issues pertains to limited real-world annotated data to facilitate generalizable models. The common practice to tackle…

We introduce a new intrinsic measure of local curvature on point-cloud data called diffusion curvature. Our measure uses the framework of diffusion maps, including the data diffusion operator, to structure point cloud data and define local…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Being able to understand the relations between the user and the surrounding environment is instrumental to assist users in a worksite. For instance, understanding which objects a user is interacting with from images and video collected…