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Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

LiDAR point cloud frame interpolation, which synthesizes the intermediate frame between the captured frames, has emerged as an important issue for many applications. Especially for reducing the amounts of point cloud transmission, it is by…

A realistic view of the vehicle's surroundings is generally offered by camera sensors, which is crucial for environmental perception. Affordable radar sensors, on the other hand, are becoming invaluable due to their robustness in variable…

Registering an object shape to a sequence of point clouds undergoing non-rigid deformation is a long-standing challenge. The key difficulties stem from two factors: (i) the presence of local minima due to the non-convexity of registration…

State-of-the-art techniques for monocular camera reconstruction predominantly rely on the Structure from Motion (SfM) pipeline. However, such methods often yield reconstruction outcomes that lack crucial scale information, and over time,…

We present a novel, data driven approach for solving the problem of registration of two point cloud scans. Our approach is direct in the sense that a single pair of corresponding local patches already provides the necessary transformation…

Rigid registration of partial observations is a fundamental problem in various applied fields. In computer graphics, special attention has been given to the registration between two partial point clouds generated by scanning devices.…

Point cloud registration is a fundamental problem in many domains. Practically, the overlap between point clouds to be registered may be relatively small. Most unsupervised methods lack effective initial evaluation of overlap, leading to…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Large-scale colored point clouds have many advantages in navigation or scene display. Relying on cameras and LiDARs, which are now widely used in reconstruction tasks, it is possible to obtain such colored point clouds. However, the…

In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…

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…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…