相关论文: Transfer Learning from Synthetic to Real LiDAR Poi…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

This paper investigates the impact of LiDAR configuration shifts on the performance of 3D LiDAR point cloud semantic segmentation models, a topic not extensively studied before. We explore the effect of using different LiDAR channels when…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

Pedestrian Crossing Prediction (PCP) in driving scenes plays a critical role in ensuring the safe operation of intelligent vehicles. Due to the limited observations of pedestrian crossing behaviors in typical situations, recent studies have…

3D point clouds are a crucial type of data collected by LiDAR sensors and widely used in transportation applications due to its concise descriptions and accurate localization. Deep neural networks (DNNs) have achieved remarkable success in…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

Zero-shot 3D object classification is crucial for real-world applications like autonomous driving, however it is often hindered by a significant domain gap between the synthetic data used for training and the sparse, noisy LiDAR scans…

Deep-learning models for 3D point cloud semantic segmentation exhibit limited generalization capabilities when trained and tested on data captured with different sensors or in varying environments due to domain shift. Domain adaptation…

Self-supervised learning (SSL) has the potential to benefit many applications, particularly those where manually annotating data is cumbersome. One such situation is the semantic segmentation of point clouds. In this context, existing…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Visual Domain Adaptation is a problem of immense importance in computer vision. Previous approaches showcase the inability of even deep neural networks to learn informative representations across domain shift. This problem is more severe…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…

LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world deployments, particularly for on-device post-deployment…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…

This work presents a new depth- and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation in a multi-modal setup between LiDAR and camera sensors. The proposed model leverages scene…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

Are general-purpose visual representations acquired solely from synthetic data useful for detecting fake images? In this work, we show the effectiveness of synthetic data-driven representations for synthetic image detection. Upon analysis,…