相关论文: Quantifying Data Augmentation for LiDAR based 3D O…

Data augmentation plays a crucial role in addressing the challenge of limited expert-annotated datasets in deep learning applications for retinal Optical Coherence Tomography (OCT) scans. This work exhaustively investigates the impact of…

We present PointAugment, a new auto-augmentation framework that automatically optimizes and augments point cloud samples to enrich the data diversity when we train a classification network. Different from existing auto-augmentation methods…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

The increasing applications of autonomous driving systems necessitates large-scale, high-quality datasets to ensure robust performance across diverse scenarios. Synthetic data has emerged as a viable solution to augment real-world datasets…

This paper presents a LiDAR-based object detection system with real-time voice specifications, integrating KITTI's 3D point clouds and RGB images through a multi-modal PointNet framework. It achieves 87.0% validation accuracy on a…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Monocular 3D object detection plays a crucial role in autonomous driving. However, existing monocular 3D detection algorithms depend on 3D labels derived from LiDAR measurements, which are costly to acquire for new datasets and challenging…

Data augmentation is one of the most common tools in deep learning, underpinning many recent advances including tasks such as classification, detection, and semantic segmentation. The standard approach to data augmentation involves simple…

In this paper we propose a novel data augmentation approach for visual content domains that have scarce training datasets, compositing synthetic 3D objects within real scenes. We show the performance of the proposed system in the context of…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

3D vehicle detection based on multi-modal fusion is an important task of many applications such as autonomous driving. Although significant progress has been made, we still observe two aspects that need to be further improvement: First, the…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…

Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…

This paper presents LiFT, a lightweight, fully quantized 3D object detection algorithm for LiDAR data, optimized for real-time inference on FPGA platforms. Through an in-depth analysis of FPGA-specific limitations, we identify a set of…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

Tracking in urban street scenes plays a central role in autonomous systems such as self-driving cars. Most of the current vision-based tracking methods perform tracking in the image domain. Other approaches, eg based on LIDAR and radar,…

In this paper, we explore the capabilities of multimodal inputs to 3D Gaussian Splatting (3DGS) based Radiance Field Rendering. We present LiDAR-3DGS, a novel method of reinforcing 3DGS inputs with LiDAR generated point clouds to…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…