相关论文: Comparison of camera-based and 3D LiDAR-based loop…

Accurate 3D person detection is critical for safety in applications such as robotics, industrial monitoring, and surveillance. This work presents a systematic evaluation of 3D person detection using camera-only, LiDAR-only, and camera-LiDAR…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

While multi-modal 3D semantic occupancy prediction typically enhances robustness by fusing camera and LiDAR inputs, its effectiveness is fundamentally constrained by environmental variability. Specifically, camera sensors suffer from severe…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

We present the POLAR Traverse Dataset: a dataset of high-fidelity stereo pair images of lunar-like terrain under polar lighting conditions designed to simulate a straight-line traverse. Images from individual traverses with different camera…

Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are usually affected by the illumination changes and texture…

Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern…

Balancing cost and performance is crucial when choosing high- versus low-resolution point-cloud roadside sensors. For example, LiDAR delivers dense point cloud, while 4D millimeter-wave radar, though spatially sparser, embeds velocity cues…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Fusing data from cameras and LiDAR sensors is an essential technique to achieve robust 3D object detection. One key challenge in camera-LiDAR fusion involves mitigating the large domain gap between the two sensors in terms of coordinates…

Autonomous driving at level five does not only means self-driving in the sunshine. Adverse weather is especially critical because fog, rain, and snow degrade the perception of the environment. In this work, current state of the art light…

Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been presented in last decade using different sensor modalities. However, robust SLAM in extreme weather conditions is still an open research problem. In this paper,…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…