相关论文: LiDAR Sensor modeling and Data augmentation with G…

Recently, the advancement of deep learning in discriminative feature learning from 3D LiDAR data has led to rapid development in the field of autonomous driving. However, automated processing uneven, unstructured, noisy, and massive 3D…

Autonomous offroad driving is essential for applications like emergency rescue, military operations, and agriculture. Despite progress, systems struggle with high-speed vehicles exceeding 10m/s due to the need for accurate long-range (>…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior…

We consider the object recognition problem in autonomous driving using automotive radar sensors. Comparing to Lidar sensors, radar is cost-effective and robust in all-weather conditions for perception in autonomous driving. However, radar…

In this paper, we address the limitations of traditional constant false alarm rate (CFAR) target detectors in automotive radars, particularly in complex urban environments with multiple objects that appear as extended targets. We propose a…

We present INDOOR-LIDAR, a comprehensive hybrid dataset of indoor 3D LiDAR point clouds designed to advance research in robot perception. Existing indoor LiDAR datasets often suffer from limited scale, inconsistent annotation formats, and…

Generative world models for autonomous driving (AD) have become a trending topic. Unlike the widely studied image modality, in this work we explore generative world models for LiDAR data. Existing generation methods for LiDAR data only…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…

Most deep learning models are data-driven and the excellent performance is highly dependent on the abundant and diverse datasets. However, it is very hard to obtain and label the datasets of some specific scenes or applications. If we train…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

Sim2Real domain transfer offers a cost-effective and scalable approach for developing LiDAR-based perception (e.g., object detection, tracking, segmentation) in Intelligent Transportation Systems (ITS). However, perception models trained in…

For 3D object detection, labeling lidar point cloud is difficult, so data augmentation is an important module to make full use of precious annotated data. As a widely used data augmentation method, GT-sample effectively improves detection…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

Polarimetric imaging, along with deep learning, has shown improved performances on different tasks including scene analysis. However, its robustness may be questioned because of the small size of the training datasets. Though the issue…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Autonomous driving in high-speed racing, as opposed to urban environments, presents significant challenges in scene understanding due to rapid changes in the track environment. Traditional sequential network approaches may struggle to meet…