相关论文: Semantic sensor fusion: from camera to sparse lida…

In this paper we propose a novel semantic localization algorithm that exploits multiple sensors and has precision on the order of a few centimeters. Our approach does not require detailed knowledge about the appearance of the world, and our…

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Autonomous driving demands accurate perception and safe decision-making. To achieve this, automated vehicles are now equipped with multiple sensors (e.g., camera, Lidar, etc.), enabling them to exploit complementary environmental context by…

Semantic segmentation using deep neural networks has been widely explored to generate high-level contextual information for autonomous vehicles. To acquire a complete $180^\circ$ semantic understanding of the forward surroundings, we…

LiDAR and camera, as two different sensors, supply geometric (point clouds) and semantic (RGB images) information of 3D scenes. However, it is still challenging for existing methods to fuse data from the two cross sensors, making them…

LiDAR Semantic Segmentation is a fundamental task in autonomous driving perception consisting of associating each LiDAR point to a semantic label. Fully-supervised models have widely tackled this task, but they require labels for each scan,…

In recent studies, numerous previous works emphasize the importance of semantic segmentation of LiDAR data as a critical component to the development of driver-assistance systems and autonomous vehicles. However, many state-of-the-art…

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…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

Perceiving the environment and its changes over time corresponds to two fundamental yet heterogeneous types of information: semantics and motion. Previous end-to-end autonomous driving works represent both types of information in a single…

Semantic Segmentation (SS) is promising for outdoor scene perception in safety-critical applications like autonomous vehicles, assisted navigation and so on. However, traditional SS is primarily based on RGB images, which limits the…

The need for large amounts of training and validation data is a huge concern in scaling AI algorithms for autonomous driving. Semantic Image Synthesis (SIS), or label-to-image translation, promises to address this issue by translating…

Research connecting text and images has recently seen several breakthroughs, with models like CLIP, DALL-E 2, and Stable Diffusion. However, the connection between text and other visual modalities, such as lidar data, has received less…