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This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…
In this paper, we propose a new geometry coding method for point cloud compression (PCC), where the points can be fitted and represented by straight lines. The encoding of the linear model can be expressed by two parts, including the…
There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…
This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…
Autoencoders learn data representations (codes) in such a way that the input is reproduced at the output of the network. However, it is not always clear what kind of properties of the input data need to be captured by the codes. Kernel…
Large occlusions result in a significant decline in image classification accuracy. During inference, diverse types of unseen occlusions introduce out-of-distribution data to the classification model, leading to accuracy dropping as low as…
Radar and LiDAR have been widely used in autonomous driving as LiDAR provides rich structure information, and radar demonstrates high robustness under adverse weather. Recent studies highlight the effectiveness of fusing radar and LiDAR…
The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…
3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…
When localizing and detecting 3D objects for autonomous driving scenes, obtaining information from multiple sensor (e.g. camera, LIDAR) typically increases the robustness of 3D detectors. However, the efficient and effective fusion of…
Camera-only 3D detection provides an economical solution with a simple configuration for localizing objects in 3D space compared to LiDAR-based detection systems. However, a major challenge lies in precise depth estimation due to the lack…
The benefit of pretrained autoencoders for reinforcement learning in comparison to training on raw observations is already known [1]. In this paper, we address the generation of a compact and information-rich state representation. In…
Pedestrian detection is an important component for safety of autonomous vehicles, as well as for traffic and street surveillance. There are extensive benchmarks on this topic and it has been shown to be a challenging problem when applied on…
LIDAR is one of the most important sensors for Unmanned Ground Vehicles (UGV). Object detection and classification based on lidar point cloud is a key technology for UGV. In object detection and classification, the mutual occlusion between…
In order to process efficiently ever-higher dimensional data such as images, sentences, or audio recordings, one needs to find a proper way to reduce the dimensionality of such data. In this regard, SVD-based methods including PCA and…
Audio representation learning based on deep neural networks (DNNs) emerged as an alternative approach to hand-crafted features. For achieving high performance, DNNs often need a large amount of annotated data which can be difficult and…
Recent advances in the field of machine learning and computer vision have enabled the development of fast and accurate road detectors. Commonly such systems are trained within a supervised learning paradigm where both an input sensor's data…
LiDARs and cameras are the two main sensors that are planned to be included in many announced autonomous vehicles prototypes. Each of the two provides a unique form of data from a different perspective to the surrounding environment. In…
Several researchers have experimentally shown that substantial improvements can be obtained in difficult pattern recognition problems by combining or integrating the outputs of multiple classifiers. This chapter provides an analytical…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…