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Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

3D scene perception demands a large amount of adverse-weather LiDAR data, yet the cost of LiDAR data collection presents a significant scaling-up challenge. To this end, a series of LiDAR simulators have been proposed. Yet, they can only…

Driving simulation plays a crucial role in developing reliable driving agents by providing controlled, evaluative environments. To enable meaningful assessments, a high-quality driving simulator must satisfy several key requirements:…

Camera and LiDAR serve as informative sensors for accurate and robust autonomous driving systems. However, these sensors often exhibit heterogeneous natures, resulting in distributional modality gaps that present significant challenges for…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

Recent progress in the automated driving system (ADS) and advanced driver assistant system (ADAS) has shown that the combined use of 3D light detection and ranging (LiDAR) and the camera is essential for an intelligent vehicle to perceive…

Virtual development and prototyping has already become an integral part in the field of automated driving systems (ADS). There are plenty of software tools that are used for the virtual development of ADS. One such tool is CarMaker from IPG…

In self-driving applications, LiDAR data provides accurate information about distances in 3D but lacks the semantic richness of camera data. Therefore, state-of-the-art methods for perception in urban scenes fuse data from both sensor…

Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing to high operational costs, dependence on specialized…

Advanced autonomous systems rely on multi-sensor fusion for safer and more robust perception. To enable effective fusion, calibrating directly from natural driving scenes (i.e., target-free) with high accuracy is crucial for precise…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Recent progress in driving video generation has shown significant potential for enhancing self-driving systems by providing scalable and controllable training data. Although pretrained state-of-the-art generation models, guided by 2D layout…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Traditional 3D modeling requires technical expertise, specialized software, and time-intensive processes, making it inaccessible for many users. Our research aims to lower these barriers by combining generative AI and augmented reality (AR)…

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…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…