相关论文: Hybrid Point Cloud Semantic Compression for Automo…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

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…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

LiDAR are increasingly being used in intelligent vehicles (IV) or intelligent transportation systems (ITS). Storage and transmission of data generated by LiDAR sensors are one of the most challenging aspects of their deployment. In this…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…

3D semantic segmentation is one of the key tasks for autonomous driving system. Recently, deep learning models for 3D semantic segmentation task have been widely researched, but they usually require large amounts of training data. However,…

Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

The Large-scale 3D reconstruction, texturing and semantic mapping are nowadays widely used for automated driving vehicles, virtual reality and automatic data generation. However, most approaches are developed for RGB-D cameras with colored…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…