相关论文: PLIN: A Network for Pseudo-LiDAR Point Cloud Inter…

Convolutional neural networks (CNNs) have become increasingly popular for solving a variety of computer vision tasks, ranging from image classification to image segmentation. Recently, autonomous vehicles have created a demand for depth…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher…

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

In this paper, we introduce a new deep learning framework for discovering the phase field models from existing image data. The new framework embraces the approximation power of physics informed neural networks (PINN), and the computational…

The rapid development of autonomous driving and mobile mapping calls for off-the-shelf LiDAR SLAM solutions that are adaptive to LiDARs of different specifications on various complex scenarios. To this end, we propose MULLS, an efficient,…

Paleoclimatic measurements serve to understand Earth System processes and evaluate climate model performances. However, their spatial coverage is generally sparse and unevenly distributed across the globe. Statistical interpolation methods…

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

In this paper we propose a novel approach to estimate dense optical flow from sparse lidar data acquired on an autonomous vehicle. This is intended to be used as a drop-in replacement of any image-based optical flow system when images are…

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…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

Most of the existing LiDAR-inertial navigation systems are based on frame-to-map registrations, leading to inconsistency in state estimation. The newest solid-state LiDAR with a non-repetitive scanning pattern makes it possible to achieve a…

Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

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…