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

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

Object detection and classification in 3D is a key task in Automated Driving (AD). LiDAR sensors are employed to provide the 3D point cloud reconstruction of the surrounding environment, while the task of 3D object bounding box detection in…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

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…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…

Object detection in radar imagery with neural networks shows great potential for improving autonomous driving. However, obtaining annotated datasets from real radar images, crucial for training these networks, is challenging, especially in…

We present a system for automatic converting of 2D mask object predictions and raw LiDAR point clouds into full 3D bounding boxes of objects. Because the LiDAR point clouds are partial, directly fitting bounding boxes to the point clouds is…

This work addresses the problem of semantic scene understanding under foggy road conditions. Although marked progress has been made in semantic scene understanding over the recent years, it is mainly concentrated on clear weather outdoor…

Autonomous driving at level five does not only means self-driving in the sunshine. Adverse weather is especially critical because fog, rain, and snow degrade the perception of the environment. In this work, current state of the art light…

LiDAR-driven 3D sensing allows new generations of vehicles to achieve advanced levels of situation awareness. However, recent works have demonstrated that physical adversaries can spoof LiDAR return signals and deceive 3D object detectors…

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.…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

The performance of perception systems developed for autonomous driving vehicles has seen significant improvements over the last few years. This improvement was associated with the increasing use of LiDAR sensors and point cloud data to…

3D object detection plays a crucial role in numerous intelligent vision systems. Detection in the open world inevitably encounters various adverse scenes, such as dense fog, heavy rain, and low light conditions. Although existing efforts…

Three-dimensional (3D) reconstruction and scene depth estimation from 2-dimensional (2D) images are major tasks in computer vision. However, using conventional 3D reconstruction techniques gets challenging in participating media such as…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

This paper presents a new approach to boost a single-modality (LiDAR) 3D object detector by teaching it to simulate features and responses that follow a multi-modality (LiDAR-image) detector. The approach needs LiDAR-image data only when…