Related papers: 3DSFLabelling: Boosting 3D Scene Flow Estimation b…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

3D scene flow estimation is a vital tool in perceiving our environment given depth or range sensors. Unlike optical flow, the data is usually sparse and in most cases partially occluded in between two temporal samplings. Here we propose a…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

Unlabeled LiDAR logs, in autonomous driving applications, are inherently a gold mine of dense 3D geometry hiding in plain sight - yet they are almost useless without human labels, highlighting a dominant cost barrier for…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Existing work on scene flow estimation focuses on autonomous driving and mobile robotics, while automated solutions are lacking for motion in nature, such as that exhibited by debris flows. We propose DEFLOW, a model for 3D motion…

This paper investigates indoor point cloud semantic segmentation under scene-level annotation, which is less explored compared to methods relying on sparse point-level labels. In the absence of precise point-level labels, current methods…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…

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…

Deep learning models for self-driving cars require a diverse training dataset to manage critical driving scenarios on public roads safely. This includes having data from divergent trajectories, such as the oncoming traffic lane or…

LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

Low-resolution point clouds are challenging for object detection methods due to their sparsity. Densifying the present point cloud by concatenating it with its predecessors is a popular solution to this challenge. Such concatenation is…

Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…