相关论文: Road Segmentation on low resolution Lidar point cl…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

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…

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…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

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…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…