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

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

Estimating building footprint maps from geospatial data is of paramount importance in urban planning, development, disaster management, and various other applications. Deep learning methodologies have gained prominence in building…

Until open-world foundation models match the performance of specialized approaches, deep learning systems remain dependent on task- and sensor-specific data availability. To bridge the gap between available datasets and deployment domains,…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Drivable areas and curbs are critical traffic elements for autonomous driving, forming essential components of the vehicle visual perception system and ensuring driving safety. Deep neural networks (DNNs) have significantly improved…

Deep Neural Networks trained in a fully supervised fashion are the dominant technology in perception-based autonomous driving systems. While collecting large amounts of unlabeled data is already a major undertaking, only a subset of it can…

The original ImageNet benchmark enforces a single-label assumption, despite many images depicting multiple objects. This leads to label noise and limits the richness of the learning signal. Multi-label annotations more accurately reflect…

This work studies semantic segmentation using 3D LiDAR data. Popular deep learning methods applied for this task require a large number of manual annotations to train the parameters. We propose a new method that makes full use of the…

Accurate extrinsic calibration of LiDAR, RADAR, and camera sensors is essential for reliable perception in autonomous vehicles. Still, it remains challenging due to factors such as mechanical vibrations and cumulative sensor drift in…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

We present a self-supervised learning approach for the semantic segmentation of lidar frames. Our method is used to train a deep point cloud segmentation architecture without any human annotation. The annotation process is automated with…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

Focusing on the strength of 4D (4-Dimensional) radar, research about robust 3D object detection networks in adverse weather conditions has gained attention. To train such networks, datasets that contain large amounts of 4D radar data and…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…

Advanced autonomous systems rely on multi-sensor fusion for safer and more robust perception. To enable effective fusion, calibrating directly from natural driving scenes (i.e., target-free) with high accuracy is crucial for precise…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…