相关论文: Boosting LiDAR-based Semantic Labeling by Cross-Mo…

Dense semantic segmentation is essential for autonomous driving, yet many multi-modal datasets lack pixel-level annotations. The Zenseact Open Dataset (ZOD) provides rich multi-sensor data but only bounding-box labels, limiting its use for…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Despite the success of deep neural networks (DNNs) in image classification tasks, the human-level performance relies on massive training data with high-quality manual annotations, which are expensive and time-consuming to collect. There…

State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to label errors in this data, typically resulting in large efforts and costs and therefore…

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…

LiDAR point cloud semantic segmentation plays a crucial role in autonomous driving. In recent years, semi-supervised methods have gained popularity due to their significant reduction in annotation labor and time costs. Current…

Deep networks thrive when trained on large scale data collections. This has given ImageNet a central role in the development of deep architectures for visual object classification. However, ImageNet was created during a specific period in…

Cross-modal knowledge transfer enhances point cloud representation learning in LiDAR semantic segmentation. Despite its potential, the \textit{weak teacher challenge} arises due to repetitive and non-diverse car camera images and sparse,…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

Reliable road segmentation in all weather conditions is critical for intelligent transportation applications, autonomous vehicles and advanced driver's assistance systems. For robust performance, all weather conditions should be included in…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

We present an approach to automatically generate semantic labels for real recordings of automotive range-Doppler (RD) radar spectra. Such labels are required when training a neural network for object recognition from radar data. The…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Semantic 3D mapping is one of the most important fields in robotics, and has been used in many applications, such as robot navigation, surveillance, and virtual reality. In general, semantic 3D mapping is mainly composed of 3D…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…

Multi-label image classification is a fundamental but challenging task in computer vision. Great progress has been achieved by exploiting semantic relations between labels in recent years. However, conventional approaches are unable to…

Autonomous vehicles and robots require a full scene understanding of the environment to interact with it. Such a perception typically incorporates pixel-wise knowledge of the depths and semantic labels for each image from a video sensor.…

Machine learning classification systems are susceptible to poor performance when trained with incorrect ground truth labels, even when data is well-curated by expert annotators. As machine learning becomes more widespread, it is…