相关论文: DSLR: Dynamic to Static LiDAR Scan Reconstruction …

We introduce a deep learning (DL) framework for inverse problems in imaging, and demonstrate the advantages and applicability of this approach in passive synthetic aperture radar (SAR) image reconstruction. We interpret image recon-…

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models…

Scalable systems for automated driving have to reliably cope with an open-world setting. This means, the perception systems are exposed to drastic domain shifts, like changes in weather conditions, time-dependent aspects, or geographic…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Autonomous navigation has become an increasingly popular machine learning application. Recent advances in deep learning have also resulted in great improvements to autonomous navigation. However, prior outdoor autonomous navigation depends…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

Realtime 4D reconstruction for dynamic scenes remains a crucial challenge for autonomous driving perception. Most existing methods rely on depth estimation through self-supervision or multi-modality sensor fusion. In this paper, we propose…

We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…

Most SLAM algorithms are based on the assumption that the scene is static. However, in practice, most scenes are dynamic which usually contains moving objects, these methods are not suitable. In this paper, we introduce DymSLAM, a dynamic…

3D reconstruction and novel view synthesis are critical for validating autonomous driving systems and training advanced perception models. Recent self-supervised methods have gained significant attention due to their cost-effectiveness and…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…

Deep learning-based scene text detection can achieve preferable performance, powered with sufficient labeled training data. However, manual labeling is time consuming and laborious. At the extreme, the corresponding annotated data are…