相关论文: A Two-stage Classification Method for High-dimensi…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Real-world sensors often produce incomplete, irregular, and noisy point clouds, making point cloud completion increasingly important. However, most existing completion methods rely on large paired datasets for training, which is…

We present a new two-stage 3D object detection framework, named sparse-to-dense 3D Object Detector (STD). The first stage is a bottom-up proposal generation network that uses raw point cloud as input to generate accurate proposals by…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Radar sensors provide a unique method for executing environmental perception tasks towards autonomous driving. Especially their capability to perform well in adverse weather conditions often makes them superior to other sensors such as…

This paper demonstrates two different fusion techniques at two different levels of a human face recognition process. The first one is called data fusion at lower level and the second one is the decision fusion towards the end of the…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

Point cloud instance segmentation has achieved huge progress with the emergence of deep learning. However, these methods are usually data-hungry with expensive and time-consuming dense point cloud annotations. To alleviate the annotation…

We present a new certification method for image and point cloud segmentation based on randomized smoothing. The method leverages a novel scalable algorithm for prediction and certification that correctly accounts for multiple testing,…

In this paper we propose a new approach for Big Data mining and analysis. This new approach works well on distributed datasets and deals with data clustering task of the analysis. The approach consists of two main phases, the first phase…

In many scientific applications, the target probability distribution cannot be evaluated in closed form or sampled from directly. Instead, it can often be decomposed into multiple components, some of which are accessible only through…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Data augmentation is an important technique to reduce overfitting and improve learning performance, but existing works on data augmentation for 3D point cloud data are based on heuristics. In this work, we instead propose to automatically…

Existing state-of-the-art 3D instance segmentation methods perform semantic segmentation followed by grouping. The hard predictions are made when performing semantic segmentation such that each point is associated with a single class.…

As 3D point clouds become the representation of choice for multiple vision and graphics applications, the ability to synthesize or reconstruct high-resolution, high-fidelity point clouds becomes crucial. Despite the recent success of deep…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

Jet point cloud images are high dimensional data structures that needs to be transformed to a separable feature space for machine learning algorithms to distinguish them with simple decision boundaries. In this article, the authors focus on…