Related papers: Real-Aug: Realistic Scene Synthesis for LiDAR Augm…

A head-mounted display (HMD) could be an important component of augmented reality system. However, as the upper face region is seriously occluded by the device, the user experience could be affected in applications such as telecommunication…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

The standard approach to tackling computer vision problems is to train deep convolutional neural network (CNN) models using large-scale image datasets which are representative of the target task. However, in many scenarios, it is often…

In this paper, we explore the capabilities of multimodal inputs to 3D Gaussian Splatting (3DGS) based Radiance Field Rendering. We present LiDAR-3DGS, a novel method of reinforcing 3DGS inputs with LiDAR generated point clouds to…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

This work proposes a novel motion guided method for target-less self-calibration of a LiDAR and camera and use the re-projection of LiDAR points onto the image reference frame for real-time depth upsampling. The calibration parameters are…

A significant challenge in object detection is accurate identification of an object's position in image space, whereas one algorithm with one set of parameters is usually not enough, and the fusion of multiple algorithms and/or parameters…

Vision-based object detectors are a crucial basis for robotics applications as they provide valuable information about object localisation in the environment. These need to ensure high reliability in different lighting conditions,…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

LiDAR scene synthesis is an emerging solution to scarcity in 3D data for robotic tasks such as autonomous driving. Recent approaches employ diffusion or flow matching models to generate realistic scenes, but 3D data remains limited compared…

Current 3D object detection methods heavily rely on an enormous amount of annotations. Semi-supervised learning can be used to alleviate this issue. Previous semi-supervised 3D object detection methods directly follow the practice of…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…

Synthetic images rendered from 3D CAD models are useful for augmenting training data for object recognition algorithms. However, the generated images are non-photorealistic and do not match real image statistics. This leads to a large…

This paper introduces PatchRefiner, an advanced framework for metric single image depth estimation aimed at high-resolution real-domain inputs. While depth estimation is crucial for applications such as autonomous driving, 3D generative…

The remarkable progress in neural-network-driven visual data generation, especially with neural rendering techniques like Neural Radiance Fields and 3D Gaussian splatting, offers a powerful alternative to GANs and diffusion models. These…

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…

We introduce Boundless, a photo-realistic synthetic data generation system for enabling highly accurate object detection in dense urban streetscapes. Boundless can replace massive real-world data collection and manual ground-truth object…