相关论文: RELLIS-3D Dataset: Data, Benchmarks and Analysis

Traversability estimation for mobile robots in off-road environments requires more than conventional semantic segmentation used in constrained environments like on-road conditions. Recently, approaches to learning a traversability…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

One of the most important parts of environment perception is the detection of obstacles in the surrounding of the vehicle. To achieve that, several sensors like radars, LiDARs and cameras are installed in autonomous vehicles. The produced…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

The development and implementation of visual-inertial odometry (VIO) has focused on structured environments, but interest in localization in off-road environments is growing. In this paper, we present the RELLIS Off-road Odometry Analysis…

Humans use UAVs to monitor changes in forest environments since they are lightweight and provide a large variety of surveillance data. However, their information does not present enough details for understanding the scene which is needed to…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

The rapid advancement of deep learning has intensified the need for comprehensive data for use by autonomous driving algorithms. High-quality datasets are crucial for the development of effective data-driven autonomous driving solutions.…

Accurate perception of the surrounding environment is essential for safe autonomous driving. 3D occupancy prediction, which estimates detailed 3D structures of roads, buildings, and other objects, is particularly important for…

Research in autonomous driving for unstructured environments suffers from a lack of semantically labeled datasets compared to its urban counterpart. Urban and unstructured outdoor environments are challenging due to the varying lighting and…

Semantic segmentation has made striking progress due to the success of deep convolutional neural networks. Considering the demands of autonomous driving, real-time semantic segmentation has become a research hotspot these years. However,…

Autonomous navigation in unstructured off-road environments is greatly improved by semantic scene understanding. Conventional image processing algorithms are difficult to implement and lack robustness due to a lack of structure and high…

Empowered by large datasets, e.g., ImageNet, unsupervised learning on large-scale data has enabled significant advances for classification tasks. However, whether the large-scale unsupervised semantic segmentation can be achieved remains…

Accurate detection and segmentation of marine debris is important for keeping the water bodies clean. This paper presents a novel dataset for marine debris segmentation collected using a Forward Looking Sonar (FLS). The dataset consists of…

Accurate 3D trajectory data is crucial for advancing autonomous driving. Yet, traditional datasets are usually captured by fixed sensors mounted on a car and are susceptible to occlusion. Additionally, such an approach can precisely…

Semantic segmentation of 3D point cloud scenes is a crucial task for various applications. In real-world scenarios, training segmentation models often faces three concurrent forms of data insufficiency: scarcity of training scenes, scarcity…

The binary segmentation of roads in very high resolution (VHR) remote sensing images (RSIs) has always been a challenging task due to factors such as occlusions (caused by shadows, trees, buildings, etc.) and the intra-class variances of…

Safety-critical applications such as autonomous driving require robust 3D environment perception algorithms capable of handling diverse and ambiguous surroundings. The predictive performance of classification models is heavily influenced by…

Security is of primary importance to vehicles. The viability of performing remote intrusions onto the in-vehicle network has been manifested. In regard to unmanned autonomous cars, limited work has been done to detect intrusions for them…

Massive semantically labeled datasets are readily available for 2D images, however, are much harder to achieve for 3D scenes. Objects in 3D repositories like ShapeNet are labeled, but regrettably only in isolation, so without context. 3D…