相关论文: DepthNet: Real-Time LiDAR Point Cloud Depth Comple…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

This work presents FG-Net, a general deep learning framework for large-scale point clouds understanding without voxelizations, which achieves accurate and real-time performance with a single NVIDIA GTX 1080 GPU. First, a novel noise and…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Loop closure detection is an essential component of Simultaneous Localization and Mapping (SLAM) systems, which reduces the drift accumulated over time. Over the years, several deep learning approaches have been proposed to address this…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the…

Odometry is a critical task for autonomous systems for self-localization and navigation. We propose a novel LiDAR-Visual odometry framework that integrates LiDAR point clouds and images for accurate and robust pose estimation. Our method…

Depth estimation is critical in autonomous driving for interpreting 3D scenes accurately. Recently, radar-camera depth estimation has become of sufficient interest due to the robustness and low-cost properties of radar. Thus, this paper…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Depth completion from sparse LiDAR and high-resolution RGB data is one of the foundations for autonomous driving techniques. Current approaches often rely on CNN-based methods with several known drawbacks: flying pixel at depth…

The integration of data from diverse sensor modalities (e.g., camera and LiDAR) constitutes a prevalent methodology within the ambit of autonomous driving scenarios. Recent advancements in efficient point cloud transformers have underscored…

With the frequent use of self-supervised monocular depth estimation in robotics and autonomous driving, the model's efficiency is becoming increasingly important. Most current approaches apply much larger and more complex networks to…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Prior research has demonstrated the effectiveness of end-to-end deep learning for robotic navigation, where the control signals are directly derived from raw sensory data. However, the majority of existing end-to-end navigation solutions…

Sparse depth measurements are widely available in many applications such as augmented reality, visual inertial odometry and robots equipped with low cost depth sensors. Although such sparse depth samples work well for certain applications…

Dense depth completion is essential for autonomous systems and 3D reconstruction. In this paper, a lightweight yet efficient network (S\&CNet) is proposed to obtain a good trade-off between efficiency and accuracy for the dense depth…

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…

Depth estimation is a fundamental component of spatial perception for autonomous driving and other unmanned systems operating in open urban environments. Existing depth datasets such as KITTI, nuScenes, and DDAD have advanced the field but…

Semantic segmentation is a key technology for autonomous vehicles to understand the surrounding scenes. The appealing performances of contemporary models usually come at the expense of heavy computations and lengthy inference time, which is…