Related papers: 3D forest semantic segmentation using multispectra…

Accurate estimation of forest biomass is crucial for monitoring carbon sequestration and informing climate change mitigation strategies. Existing methods often rely on allometric models, which estimate individual tree biomass by relating it…

Semantic segmentation of large-scale outdoor point clouds is essential for urban scene understanding in various applications, especially autonomous driving and urban high-definition (HD) mapping. With rapid developments of mobile laser…

Real-time semantic segmentation of remote sensing imagery is a challenging task that requires a trade-off between effectiveness and efficiency. It has many applications including tracking forest fires, detecting changes in land use and land…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

This paper presents a basic property of region dividing of ReLU (rectified linear unit) deep learning when new layers are successively added, by which two new perspectives of interpreting deep learning are given. The first is related to…

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…

In this work we address the task of segmenting an object into its parts, or semantic part segmentation. We start by adapting a state-of-the-art semantic segmentation system to this task, and show that a combination of a fully-convolutional…

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…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…

Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles. However, most semantic datasets and algorithms used for LiDAR sequence segmentation operate on $360^\circ$ frames, causing an acquisition latency incompatible with…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

3D LiDAR-based place recognition remains largely underexplored in horticultural environments, which present unique challenges due to their semi-permeable nature to laser beams. This characteristic often results in highly similar LiDAR scans…