相关论文: 2D vs. 3D LiDAR-based Person Detection on Mobile R…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

Because 3D structure of a roadway environment can be characterized directly by a Light Detection and Ranging (LiDAR) sensors, they can be used to obtain exceptional situational awareness for assitive and autonomous driving systems. Although…

Light detection and ranging (LiDAR) have emerged as a crucial tool for high-resolution 3D imaging, particularly in autonomous vehicles, remote sensing, and augmented reality. However, the increasing demand for faster acquisition speed and…

Perceiving pedestrians in highly crowded urban environments is a difficult long-tail problem for learning-based autonomous perception. Speeding up 3D ground truth generation for such challenging scenes is performance-critical yet very…

LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…

As mobile robot capabilities improve and deployment times increase, tools to analyze the growing volume of data are becoming necessary. Current state-of-the-art logging, playback, and exploration systems are insufficient for practitioners…

In this paper, we present a comprehensive review of 3D human pose estimation and human mesh recovery from in-the-wild LiDAR point clouds. We compare existing approaches across several key dimensions, and propose a structured taxonomy to…

LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…

Robotic detection of people in crowded and/or cluttered human-centered environments including hospitals, long-term care, stores and airports is challenging as people can become occluded by other people or objects, and deform due to…

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…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

LiDAR (laser based radar) systems are a major part of many new real-world interactive systems, one of the most notable being autonomous cars. The current market LiDAR systems are limited by detector sensitivity: when output power is at…

Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…

Camera-based person re-identification (ReID) systems have been widely applied in the field of public security. However, cameras often lack the perception of 3D morphological information of human and are susceptible to various limitations,…

Even though many existing 3D object detection algorithms rely mostly on camera and LiDAR, camera and LiDAR are prone to be affected by harsh weather and lighting conditions. On the other hand, radar is resistant to such conditions. However,…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…