相关论文: Fog Simulation on Real LiDAR Point Clouds for 3D O…

Static LiDAR scanners produce accurate, dense, colored point clouds, but often contain obtrusive artifacts which makes them ill-suited for direct display. We propose an efficient method to render photorealistic images of such scans without…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

In the realm of modern autonomous driving, the perception system is indispensable for accurately assessing the state of the surrounding environment, thereby enabling informed prediction and planning. The key step to this system is related…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Adverse weather conditions such as haze and rain corrupt the quality of captured images, which cause detection networks trained on clean images to perform poorly on these images. To address this issue, we propose an unsupervised prior-based…

We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…

Current LiDAR-based Vehicle-to-Everything (V2X) multi-agent perception systems have shown the significant success on 3D object detection. While these models perform well in the trained clean weather, they struggle in unseen adverse weather…

Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…

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…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

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…

Adverse weather can cause noise to light detection and ranging (LiDAR) data. This is a problem since it is used in many outdoor applications, e.g. object detection and mapping. We propose the task of multi-echo denoising, where the goal is…

Multi-modal 3D object detection is important for reliable perception in robotics and autonomous driving. However, its effectiveness remains limited under adverse weather conditions due to weather-induced distortions and misalignment between…

Pedestrians are among the most endangered traffic participants in road traffic. While pedestrian detection in nominal conditions is well established, the sensor and, therefore, the pedestrian detection performance degrades under adverse…

3D object detection based on LiDAR point cloud and prior anchor boxes is a critical technology for autonomous driving environment perception and understanding. Nevertheless, an overlooked practical issue in existing methods is the ambiguity…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Adversarial robustness in LiDAR-based 3D object detection is a critical research area due to its widespread application in real-world scenarios. While many digital attacks manipulate point clouds or meshes, they often lack physical…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…