相关论文: SOIC: Semantic Online Initialization and Calibrati…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

Recent query-based 3D object detection methods using camera and LiDAR inputs have shown strong performance, but existing query initialization strategies,such as random sampling or BEV heatmap-based sampling, often result in inefficient…

This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize…

This study analyzes semantic segmentation performance across heterogeneously labeled point-cloud datasets relevant to public safety applications, including pre-incident planning systems derived from lidar scans. Using NIST's Point Cloud…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Self-supervised learning (SSL) has the potential to benefit many applications, particularly those where manually annotating data is cumbersome. One such situation is the semantic segmentation of point clouds. In this context, existing…

In this paper, we address extrinsic calibration for camera, lidar, and 4D radar sensors. Accurate extrinsic calibration of radar remains a challenge due to the sparsity of its data. We propose CLRNet, a novel, multi-modal end-to-end deep…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…

3D semantic scene understanding is a fundamental challenge in computer vision. It enables mobile agents to autonomously plan and navigate arbitrary environments. SSC formalizes this challenge as jointly estimating dense geometry and…

Visual grouping -- operationalized through tasks such as instance segmentation, visual grounding, and object detection -- enables applications ranging from robotic perception to photo editing. These fundamental problems in computer vision…

An examination of object recognition challenge leaderboards (ILSVRC, PASCAL-VOC) reveals that the top-performing classifiers typically exhibit small differences amongst themselves in terms of error rate/mAP. To better differentiate the top…

LiDAR-based SLAM system is admittedly more accurate and stable than others, while its loop closure detection is still an open issue. With the development of 3D semantic segmentation for point cloud, semantic information can be obtained…

Recent robotic manipulation competitions have highlighted that sophisticated robots still struggle to achieve fast and reliable perception of task-relevant objects in complex, realistic scenarios. To improve these systems' perceptive speed…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

Semantic Scene Completion (SSC) aims to jointly generate space occupancies and semantic labels for complex 3D scenes. Most existing SSC models focus on volumetric representations, which are memory-inefficient for large outdoor spaces. Point…

Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…

Accurate sensor calibration is crucial for autonomous systems, yet its uncertainty quantification remains underexplored. We present the first approach to integrate uncertainty awareness into online extrinsic calibration, combining Monte…

Continual learning (CL) is widely regarded as crucial challenge for lifelong AI. However, existing CL benchmarks, e.g. Permuted-MNIST and Split-CIFAR, make use of artificial temporal variation and do not align with or generalize to the…

We propose a flexible Semi-Automatic Labeling Tool (SALT) for general LiDAR point clouds with cross-scene adaptability and 4D consistency. Unlike recent approaches that rely on camera distillation, SALT operates directly on raw LiDAR data,…