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LiDAR-based semantic segmentation is a key component for autonomous mobile robots, yet large-scale annotation of LiDAR point clouds is prohibitively expensive and time-consuming. Although simulators can provide labeled synthetic data,…

4D automotive radar is indispensable for autonomous driving due to its low cost and robustness, yet its point cloud sparsity challenges 3D object detection. Existing 4D radar-camera fusion methods focus on complex fusion strategies, trading…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

As the exorbitant expense of labeling autopilot datasets and the growing trend of utilizing unlabeled data, semi-supervised segmentation on point clouds becomes increasingly imperative. Intuitively, finding out more ``unspoken words''…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

Point cloud segmentation is a fundamental task in 3D vision that serves a wide range of applications. Although great progresses have been made these years, its practical usability is still limited by the availability of training data.…

Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…

Point cloud segmentation is a fundamental task in 3D. Despite recent progress on point cloud segmentation with the power of deep networks, current learning methods based on the clean label assumptions may fail with noisy labels. Yet, class…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Semantic segmentation is essential for automating remote sensing analysis in fields like ecology. However, fine-grained analysis of complex aerial or underwater imagery remains an open challenge, even for state-of-the-art models. Progress…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

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…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

Availability of a few, large-size, annotated datasets, like ImageNet, Pascal VOC and COCO, has lead deep learning to revolutionize computer vision research by achieving astonishing results in several vision tasks.We argue that new tools to…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Accurate school detection is essential for supporting education initiatives, including infrastructure planning and expanding internet connectivity to underserved areas. However, many regions around the world face challenges due to outdated,…

Recent advances in automotive four-dimensional (4D) Radar have enabled access to raw 4D Radar Tensor (4DRT), offering richer spatial and Doppler information than conventional point clouds. While most existing methods rely on heavily…