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

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

Ground surface detection in point cloud is widely used as a key module in autonomous driving systems. Different from previous approaches which are mostly developed for lidars with high beam resolution, e.g. Velodyne HDL-64, this paper…

We propose a novel filter for segmenting the regions of interest from LiDAR 3D point cloud for multirotor aerial vehicles. It is specially targeted for real-time applications and works on sparse LiDAR point clouds without preliminary…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

The need for fine-grained perception in autonomous driving systems has resulted in recently increased research on online semantic segmentation of single-scan LiDAR. Despite the emerging datasets and technological advancements, it remains…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Semantic segmentation of indoor point clouds has found various applications in the creation of digital twins for robotics, navigation and building information modeling (BIM). However, most existing datasets of labeled indoor point clouds…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…