相关论文: Deep Generative Modeling of LiDAR Data

Deep generative models have been studied and developed primarily in the context of natural images and computer vision. This has spurred the development of (Bayesian) methods that use these generative models for inverse problems in image…

Adaptable models could greatly benefit robotic agents operating in the real world, allowing them to deal with novel and varying conditions. While approaches such as Bayesian inference are well-studied frameworks for adapting models to…

Deep generative models are universal tools for learning data distributions on high dimensional data spaces via a mapping to lower dimensional latent spaces. We provide a study of latent space geometries and extend and build upon previous…

Deep Learning has recently emerged as a perfect prognosis downscaling technique to compute high-resolution fields from large-scale coarse atmospheric data. Despite their promising results to reproduce the observed local variability, they…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Deep generative models like variational autoencoders approximate the intrinsic geometry of high dimensional data manifolds by learning low-dimensional latent-space variables and an embedding function. The geometric properties of these…

When solving inverse problems in geophysical imaging, deep generative models (DGMs) may be used to enforce the solution to display highly structured spatial patterns which are supported by independent information (e.g. the geological…

We introduce Scan2Mesh, a novel data-driven generative approach which transforms an unstructured and potentially incomplete range scan into a structured 3D mesh representation. The main contribution of this work is a generative neural…

We present an architecture which lets us train deep, directed generative models with many layers of latent variables. We include deterministic paths between all latent variables and the generated output, and provide a richer set of…

Deep generative models learn a mapping from a low dimensional latent space to a high-dimensional data space. Under certain regularity conditions, these models parameterize nonlinear manifolds in the data space. In this paper, we investigate…

Diffusion Models (DMs) have achieved State-Of-The-Art (SOTA) results in the Lidar point cloud generation task, benefiting from their stable training and iterative refinement during sampling. However, DMs often fail to realistically model…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Semantic segmentation of medical images is pivotal in applications like disease diagnosis and treatment planning. While deep learning has excelled in automating this task, a major hurdle is the need for numerous annotated segmentation…

As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…

We present a learning-based approach to reconstruct buildings as 3D polygonal meshes from airborne LiDAR point clouds. What makes 3D building reconstruction from airborne LiDAR hard is the large diversity of building designs and especially…

Heralded by the initial success in speech recognition and image classification, learning-based approaches with neural networks, commonly referred to as deep learning, have spread across various fields. A primitive form of a neural network…

With the advent of Deep Learning (DL) techniques, especially Generative Adversarial Networks (GANs), data augmentation and generation are quickly evolving domains that have raised much interest recently. However, the DL techniques are data…

We propose a manifold matching approach to generative models which includes a distribution generator (or data generator) and a metric generator. In our framework, we view the real data set as some manifold embedded in a high-dimensional…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…