Related papers: PSS-BA: LiDAR Bundle Adjustment with Progressive S…
Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…
Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a…
Deep learning-based visual perception models lack robustness when faced with camera motion perturbations in practice. The current certification process for assessing robustness is costly and time-consuming due to the extensive number of…
LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…
Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…
How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…
Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…
LiDAR relocalization plays a crucial role in many fields, including robotics, autonomous driving, and computer vision. LiDAR-based retrieval from a database typically incurs high computation storage costs and can lead to globally inaccurate…
LiDAR data is becoming increasingly essential with the rise of autonomous vehicles. Its ability to provide 360deg horizontal field of view of point cloud, equips self-driving vehicles with enhanced situational awareness capabilities. While…
Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…
Point cloud registration is a classical topic in the field of 3D Vision and Computer Graphics. Generally, the implementation of registration is typically sensitive to similarity transformations (translation, scaling, and rotation), noisy…
Recent efforts in Gaussian-Splat-based Novel View Synthesis can achieve photorealistic rendering; however, such capability is limited in sparse-view scenarios due to sparse initialization and over-fitting floaters. Recent progress in depth…
The unification of disparate maps is crucial for enabling scalable robot operation across multiple sessions and collaborative multi-robot scenarios. However, achieving a unified map robust to sensor modalities and dynamic environments…
The integration of multiple cameras and 3D Li- DARs has become basic configuration of augmented reality devices, robotics, and autonomous vehicles. The calibration of multi-modal sensors is crucial for a system to properly function, but it…
Registration of 3D LiDAR point clouds with optical images is critical in the combination of multi-source data. Geometric misalignment originally exists in the pose data between LiDAR point clouds and optical images. To improve the accuracy…
This paper addresses the problem of single snapshot Direction-of-Arrival (DOA) estimation, which is of great importance in a wide-range of applications including automotive radar. A popular approach to achieving high angular resolution when…
Integrating LiDAR and camera inputs into a unified Bird's-Eye-View (BEV) representation is crucial for enhancing 3D perception capabilities of autonomous vehicles. However, existing methods suffer from spatial misalignment between LiDAR and…
Upsampling LiDAR point clouds in autonomous driving scenarios remains a significant challenge due to the inherent sparsity and complex 3D structures of the data. Recent studies have attempted to address this problem by converting the…
Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…