Related papers: Real-time Neural Rendering of LiDAR Point Clouds
The worldwide commercialization of fifth generation (5G) wireless networks and the exciting possibilities offered by connected and autonomous vehicles (CAVs) are pushing toward the deployment of heterogeneous sensors for tracking dynamic…
By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…
We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…
Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…
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…
Point clouds offer an attractive source of information to complement images in neural scene representations, especially when few images are available. Neural rendering methods based on point clouds do exist, but they do not perform well…
In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…
Augmented Reality (AR) applications necessitates methods of inserting needed objects into scenes captured by cameras in a way that is coherent with the surroundings. Common AR applications require the insertion of predefined 3D objects with…
Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…
In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…
LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…
We present a unified, efficient and effective framework for point-cloud based 3D object detection. Our two-stage approach utilizes both voxel representation and raw point cloud data to exploit respective advantages. The first stage network,…
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,…
Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…
LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…
Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…
Designing and validating sensor applications and algorithms in simulation is an important step in the modern development process. Furthermore, modern open-source multi-sensor simulation frameworks are moving towards the usage of video-game…
Pre-training is crucial in 3D-related fields such as autonomous driving where point cloud annotation is costly and challenging. Many recent studies on point cloud pre-training, however, have overlooked the issue of incompleteness, where…