相关论文: A LiDAR Point Cloud Generator: from a Virtual Worl…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

Most algorithms that rely on deep learning-based approaches to generate 3D point sets can only produce clouds containing fixed number of points. Furthermore, they typically require large networks parameterized by many weights, which makes…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Indoor scene modification has emerged as a prominent area within computer vision, particularly for its applications in Augmented Reality (AR) and Virtual Reality (VR). Traditional methods often rely on pre-existing object databases and…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

Within the past decade, the rise of applications based on artificial intelligence (AI) in general and machine learning (ML) in specific has led to many significant contributions within different domains. The applications range from robotics…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

Camera and lidar are important sensor modalities for robotics in general and self-driving cars in particular. The sensors provide complementary information offering an opportunity for tight sensor-fusion. Surprisingly, lidar-only methods…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…