Related papers: SN-LiDAR: Semantic Neural Fields for Novel Space-t…
We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…
We present LiDARGen, a novel, effective, and controllable generative model that produces realistic LiDAR point cloud sensory readings. Our method leverages the powerful score-matching energy-based model and formulates the point cloud…
LiDAR Semantic Segmentation is a fundamental task in autonomous driving perception consisting of associating each LiDAR point to a semantic label. Fully-supervised models have widely tackled this task, but they require labels for each scan,…
LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…
LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…
LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…
We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…
We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…
LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…
Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…
Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…
Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…
Semantic grids can be useful representations of the scene around an autonomous system. By having information about the layout of the space around itself, a robot can leverage this type of representation for crucial tasks such as navigation…
Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…
The goal of this work is to perform 3D reconstruction and novel view synthesis from data captured by scanning platforms commonly deployed for world mapping in urban outdoor environments (e.g., Street View). Given a sequence of posed RGB…
Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…
Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…
Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…
In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…
Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…