Related papers: LiDAR-based curb detection for ground truth annota…
Object detection and tracking are vital and fundamental tasks for autonomous driving, aiming at identifying and locating objects from those predefined categories in a scene. 3D point cloud learning has been attracting more and more…
Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…
This paper addresses the problem of 3D referring expression comprehension (REC) in autonomous driving scenario, which aims to ground a natural language to the targeted region in LiDAR point clouds. Previous approaches for REC usually focus…
Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…
3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…
Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that can quantitatively evaluate the accuracy of a 3D pointcloud…
The reliable detection of unauthorized individuals in safety-critical industrial indoor spaces is crucial to avoid plant shutdowns, property damage, and personal hazards. Conventional vision-based methods that use deep-learning approaches…
A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…
Active learning, a label-efficient paradigm, empowers models to interactively query an oracle for labeling new data. In the realm of LiDAR semantic segmentation, the challenges stem from the sheer volume of point clouds, rendering…
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
Autonomous driving requires 3D maps that provide accurate and up-to-date information about semantic landmarks. Due to the wider availability and lower cost of cameras compared with laser scanners, vision-based mapping solutions, especially…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
3D object detection has recently received much attention due to its great potential in autonomous vehicle (AV). The success of deep learning based object detectors relies on the availability of large-scale annotated datasets, which is…
3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…
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…
3D automatic annotation has received increased attention since manually annotating 3D point clouds is laborious. However, existing methods are usually complicated, e.g., pipelined training for 3D foreground/background segmentation,…
Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…
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…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…