相关论文: PointNet on FPGA for Real-Time LiDAR Point Cloud P…

Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene, resulting in a point cloud with notable 1D curve-like structures. In this work, we introduce a new point cloud processing scheme and backbone, called…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

This study presents an efficient field-programmable gate array (FPGA) implementation of a polynomial spline function-based statistical compression algorithm designed to address the critical challenge of massive data transfer bandwidth in…

New heterogeneous computing paradigms on dedicated hardware with increased parallelization, such as Field Programmable Gate Arrays (FPGAs), offer exciting solutions with large potential gains. The growing applications of machine learning…

In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

This paper presents a comprehensive review of recent advances in deploying convolutional neural networks (CNNs) for object detection, classification, and tracking on Field Programmable Gate Arrays (FPGAs). With the increasing demand for…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Due to its robust and precise distance measurements, LiDAR plays an important role in scene understanding for autonomous driving. Training deep neural networks (DNNs) on LiDAR data requires large-scale point-wise annotations, which are…

Point-based 3D point cloud models employ computation and memory intensive mapping functions alongside NN layers for classification/segmentation, and are executed on server-grade GPUs. The sparse, and unstructured nature of 3D point cloud…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

LiDAR semantic segmentation essential for advanced autonomous driving is required to be accurate, fast, and easy-deployed on mobile platforms. Previous point-based or sparse voxel-based methods are far away from real-time applications since…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

Deep neural networks have revolutionized 3D point cloud processing, yet efficiently handling large and irregular point clouds remains challenging. To tackle this problem, we introduce FastPoint, a novel software-based acceleration technique…

This study introduces a lightweight U-Net model optimized for real-time semantic segmentation of aerial images, targeting the efficient utilization of Commercial Off-The-Shelf (COTS) embedded computing platforms. We maintain the accuracy of…

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…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

The record-breaking achievements of deep neural networks (DNNs) in image classification and detection tasks resulted in a surge of new computer vision applications during the past years. However, their computational complexity is…