相关论文: ePointDA: An End-to-End Simulation-to-Real Domain …

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Deep learning approaches for semantic segmentation rely primarily on supervised learning approaches and require substantial efforts in producing pixel-level annotations. Further, such approaches may perform poorly when applied to unseen…

3D shape completion from point clouds is a challenging task, especially from scans of real-world objects. Considering the paucity of 3D shape ground truths for real scans, existing works mainly focus on benchmarking this task on synthetic…

Understanding point clouds captured from the real-world is challenging due to shifts in data distribution caused by varying object scales, sensor angles, and self-occlusion. Prior works have addressed this issue by combining recent learning…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

Unsupervised Domain Adaptation (UDA) can tackle the challenge that convolutional neural network(CNN)-based approaches for semantic segmentation heavily rely on the pixel-level annotated data, which is labor-intensive. However, existing UDA…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

Since the PointNet was proposed, deep learning on point cloud has been the concentration of intense 3D research. However, existing point-based methods usually are not adequate to extract the local features and the spatial pattern of a point…

Recent LiDAR-based 3D Object Detection (3DOD) methods show promising results, but they often do not generalize well to target domains outside the source (or training) data distribution. To reduce such domain gaps and thus to make 3DOD…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

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…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Semantic analyses of object point clouds are largely driven by releasing of benchmarking datasets, including synthetic ones whose instances are sampled from object CAD models. However, learning from synthetic data may not generalize to…

Semantic segmentation suffers from significant performance degradation when the trained network is applied to a different domain. To address this issue, unsupervised domain adaptation (UDA) has been extensively studied. Despite the…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…