相关论文: AttDLNet: Attention-based DL Network for 3D LiDAR …

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…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

In this paper, we propose Attention Based Decomposition Network (ABD-Net), for point cloud decomposition into basic geometric shapes namely, plane, sphere, cone and cylinder. We show improved performance of 3D object classification using…

Although deep convolutional neural networks (CNNs) have obtained outstanding performance in image superresolution (SR), their computational cost increases geometrically as CNN models get deeper and wider. Meanwhile, the features of…

Lane detection plays a crucial role in autonomous driving by providing vital data to ensure safe navigation. Modern algorithms rely on anchor-based detectors, which are then followed by a label-assignment process to categorize training…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

In this paper, we propose a frequency-time division network (FreqTimeNet) to improve the performance of deep learning (DL) based OFDM channel estimation. This FreqTimeNet is designed based on the orthogonality between the frequency domain…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Lidar SLAM plays a significant role in mobile robot navigation and high-definition map construction. However, existing methods often face a trade-off between localization accuracy and system robustness in scenarios with a high proportion of…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

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…

Recently, the advancement of deep learning in discriminative feature learning from 3D LiDAR data has led to rapid development in the field of autonomous driving. However, automated processing uneven, unstructured, noisy, and massive 3D…

We present a simple yet effective method to address loop closure detection in simultaneous localisation and mapping using local 3D deep descriptors (L3Ds). L3Ds are emerging compact representations of patches extracted from point clouds…

Modern lane detection methods have achieved remarkable performances in complex real-world scenarios, but many have issues maintaining real-time efficiency, which is important for autonomous vehicles. In this work, we propose LaneATT: an…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…