相关论文: LiDAR point-cloud processing based on projection m…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Driven by the ever-increasing requirements of autonomous vehicles, such as traffic monitoring and driving assistant, deep learning-based object detection (DL-OD) has been increasingly attractive in intelligent transportation systems.…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

Edge computing-based 3D perception has received attention in intelligent transportation systems (ITS) because real-time monitoring of traffic candidates potentially strengthens Vehicle-to-Everything (V2X) orchestration. Thanks to the…

A robust and accurate 3D detection system is an integral part of autonomous vehicles. Traditionally, a majority of 3D object detection algorithms focus on processing 3D point clouds using voxel grids or bird's eye view (BEV). Recent works,…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Fully autonomous driving systems require fast detection and recognition of sensitive objects in the environment. In this context, intelligent vehicles should share their sensor data with computing platforms and/or other vehicles, to detect…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Object detection is one of the most important and challenging branches of computer vision, which has been widely applied in peoples life, such as monitoring security, autonomous driving and so on, with the purpose of locating instances of…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

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…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

For high resolution scene mapping and object recognition, optical technologies such as cameras and LiDAR are the sensors of choice. However, for robust future vehicle autonomy and driver assistance in adverse weather conditions,…

Both humans and deep learning models can recognize objects from 3D shapes depicted with sparse visual information, such as a set of points randomly sampled from the surfaces of 3D objects (termed a point cloud). Although deep learning…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Existing approaches for unsupervised point cloud pre-training are constrained to either scene-level or point/voxel-level instance discrimination. Scene-level methods tend to lose local details that are crucial for recognizing the road…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

New 3+1D high-resolution radar sensors are gaining importance for 3D object detection in the automotive domain due to their relative affordability and improved detection compared to classic low-resolution radar sensors. One limitation of…