Related papers: 3D LiDAR Mapping in Dynamic Environments Using a 4…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

Occupancy prediction reconstructs 3D structures of surrounding environments. It provides detailed information for autonomous driving planning and navigation. However, most existing methods heavily rely on the LiDAR point clouds to generate…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

We present a unified representation for actionable spatial perception: 3D Dynamic Scene Graphs. Scene graphs are directed graphs where nodes represent entities in the scene (e.g. objects, walls, rooms), and edges represent relations (e.g.…

Semantic segmentation requires per-pixel prediction for a given image. Typically, the output resolution of a segmentation network is severely reduced due to the downsampling operations in the CNN backbone. Most previous methods employ…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

Humans possess an exceptional ability to imagine 4D scenes, encompassing both motion and 3D geometry, from a single still image. This ability is rooted in our accumulated observations of similar scenes and an intuitive understanding of…

3D reconstruction and novel view synthesis are critical for validating autonomous driving systems and training advanced perception models. Recent self-supervised methods have gained significant attention due to their cost-effectiveness and…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…

Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

Visual Simultaneous Localization and Mapping (vSLAM) is a widely used technique in robotics and computer vision that enables a robot to create a map of an unfamiliar environment using a camera sensor while simultaneously tracking its…

Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

This paper presents novel strategies for spawning and fusing submaps within an elastic dense 3D reconstruction system. The proposed system uses spatial understanding of the scanned environment to control memory usage growth by fusing…

Autonomous vehicles demand detailed maps to maneuver reliably through traffic, which need to be kept up-to-date to ensure a safe operation. A promising way to adapt the maps to the ever-changing road-network is to use crowd-sourced data…