Related papers: R$^3$D: Regional-guided Residual Radar Diffusion
4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse driving scenarios. Nevertheless, the sparse and noisy nature of 4D…
In this paper, we introduce Era3D, a novel multiview diffusion method that generates high-resolution multiview images from a single-view image. Despite significant advancements in multiview generation, existing methods still suffer from…
This paper presents a novel scheme to efficiently compress Light Detection and Ranging~(LiDAR) point clouds, enabling high-precision 3D scene archives, and such archives pave the way for a detailed understanding of the corresponding 3D…
We present LTM3D, a Latent Token space Modeling framework for conditional 3D shape generation that integrates the strengths of diffusion and auto-regressive (AR) models. While diffusion-based methods effectively model continuous latent…
Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…
We tackle the problem of exploiting Radar for perception in the context of self-driving as Radar provides complementary information to other sensors such as LiDAR or cameras in the form of Doppler velocity. The main challenges of using…
Radar is ubiquitous in autonomous driving systems due to its low cost and good adaptability to bad weather. Nevertheless, the radar detection performance is usually inferior because its point cloud is sparse and not accurate due to the poor…
Cloud contamination severely degrades the usability of remote sensing imagery and poses a fundamental challenge for downstream Earth observation tasks. Recently, diffusion-based models have emerged as a dominant paradigm for remote sensing…
Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…
Ambiguity in medical image segmentation calls for models that capture full conditional distributions rather than a single point estimate. We present Prior-Guided Residual Diffusion (PGRD), a diffusion-based framework that learns voxel-wise…
Efficient 3D LiDAR point cloud compression (LPCC) and streaming are critical for edge server-assisted robotic systems, enabling real-time communication with compact data representations. A widely adopted approach represents LiDAR point…
We propose residual denoising diffusion models (RDDM), a novel dual diffusion process that decouples the traditional single denoising diffusion process into residual diffusion and noise diffusion. This dual diffusion framework expands the…
In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…
Radar-camera fusion methods have emerged as a cost-effective approach for 3D object detection but still lag behind LiDAR-based methods in performance. Recent works have focused on employing temporal fusion and Knowledge Distillation (KD)…
LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…
Distributed radar sensors enable robust human activity recognition. However, scaling the number of coordinated nodes introduces challenges in feature extraction from large datasets, and transparent data fusion. We propose an end-to-end…
To enable self-driving vehicles accurate detection and tracking of surrounding objects is essential. While Light Detection and Ranging (LiDAR) sensors have set the benchmark for high-performance systems, the appeal of camera-only solutions…
LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…
High resolution automotive radar sensors are required in order to meet the high bar of autonomous vehicles needs and regulations. However, current radar systems are limited in their angular resolution causing a technological gap. An…
LiDAR-based 3D object detectors typically rely on proposal heads with hand-crafted components like anchor assignment and non-maximum suppression (NMS), complicating training and limiting extensibility. We present AutoReg3D, an…