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

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Convolutional Neural Networks (CNNs) have been utilised in many image and video processing applications. The convolution operator, also known as a spatial filter, is usually a linear operation, but this linearity compromises essential…

Artificial neural networks are already widely used for physics analysis, but there are only few applications within low-level hardware triggers, and typically only with small networks. Modern high-end FPGAs offer Tera-scale arithmetic…

FPGA is appropriate for fix-point neural networks computing due to high power efficiency and configurability. However, its design must be intensively refined to achieve high performance using limited hardware resources. We present an…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Deep Forest is a prominent machine learning algorithm known for its high accuracy in forecasting. Compared with deep neural networks, Deep Forest has almost no multiplication operations and has better performance on small datasets. However,…

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…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…

Recently, the field of deep learning has received great attention by the scientific community and it is used to provide improved solutions to many computer vision problems. Convolutional neural networks (CNNs) have been successfully used to…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Adopting FPGA as an accelerator in datacenters is becoming mainstream for customized computing, but the fact that FPGAs are hard to program creates a steep learning curve for software programmers. Even with the help of high-level synthesis…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Real-time semantic segmentation of LiDAR data is crucial for autonomously driving vehicles, which are usually equipped with an embedded platform and have limited computational resources. Approaches that operate directly on the point cloud…

This paper presents FeatSense, a feature-based GPU-accelerated SLAM system for high resolution LiDARs, combined with a map generation algorithm for real-time generation of large Truncated Signed Distance Fields (TSDFs) on embedded hardware.…

Trends in hardware, the prevalence of the cloud, and the rise of highly demanding applications have ushered an era of specialization that quickly changes how data is processed at scale. These changes are likely to continue and accelerate in…

Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation and Mapping (VSLAM) -…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…

Multisensor fusion is essential for autonomous vehicles to accurately perceive, analyze, and plan their trajectories within complex environments. This typically involves the integration of data from LiDAR sensors and cameras, which…