相关论文: StrObe: Streaming Object Detection from LiDAR Pack…

Robots and autonomous systems need to know where they are within a map to navigate effectively. Thus, simultaneous localization and mapping or SLAM is a common building block of robot navigation systems. When building a map via a SLAM…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

We present STaR, a novel method that performs Self-supervised Tracking and Reconstruction of dynamic scenes with rigid motion from multi-view RGB videos without any manual annotation. Recent work has shown that neural networks are…

The LIght Detection And Ranging (LiDAR) sensor has become one of the most important perceptual devices due to its important role in simultaneous localization and mapping (SLAM). Existing SLAM methods are mainly developed for mechanical…

3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…

The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…

Diffusion models have been applied to 3D LiDAR scene completion due to their strong training stability and high completion quality. However, the slow sampling speed limits the practical application of diffusion-based scene completion models…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

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…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

Although existing 3D perception algorithms have demonstrated significant improvements in performance, their deployment on edge devices continues to encounter critical challenges due to substantial runtime latency. We propose a new benchmark…

Space-time adaptive processing (STAP) algorithms with coprime arrays can provide good clutter suppression potential with low cost in airborne radar systems as compared with their uniform linear arrays counterparts. However, the performance…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

Scene understanding plays an essential role in enabling autonomous driving and maintaining high standards of performance and safety. To address this task, cameras and laser scanners (LiDARs) have been the most commonly used sensors, with…

In this paper, we propose a long-sequence modeling framework, named StreamPETR, for multi-view 3D object detection. Built upon the sparse query design in the PETR series, we systematically develop an object-centric temporal mechanism. The…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…