Related papers: Sensor Equivariance by LiDAR Projection Images
Autonomous vehicles rely on LiDAR sensors to detect obstacles such as pedestrians, other vehicles, and fixed infrastructures. LiDAR spoofing attacks have been demonstrated that either create erroneous obstacles or prevent detection of real…
A lidar odometry method, integrating into the computation the knowledge about the physics of the sensor, is proposed. A model of measurement error enables higher precision in estimation of the point normal covariance. Adjacent laser beams…
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…
The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object…
A critical aspect of autonomous vehicles (AVs) is the object detection stage, which is increasingly being performed with sensor fusion models: multimodal 3D object detection models which utilize both 2D RGB image data and 3D data from a…
High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…
In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…
Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…
Recent advances in autonomous driving have underscored the importance of accurate 3D object detection, with LiDAR playing a central role due to its robustness under diverse visibility conditions. However, different vehicle platforms often…
This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…
Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…
Casting semantic segmentation of outdoor LiDAR point clouds as a 2D problem, e.g., via range projection, is an effective and popular approach. These projection-based methods usually benefit from fast computations and, when combined with…
The problem of segmenting a given image into coherent regions is important in Computer Vision and many industrial applications require segmenting a known object into its components. Examples include identifying individual parts of a…
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…
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…
Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…
Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…
Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…
Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…
In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…