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

LiDAR (Light Detection And Ranging) is an indispensable sensor for precise long- and wide-range 3D sensing, which directly benefited the recent rapid deployment of autonomous driving (AD). Meanwhile, such a safety-critical application…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

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.…

In this paper, we propose an algorithm to generate a static point cloud map based on LiDAR point cloud data. Our proposed pipeline detects dynamic objects using 3D object detectors and projects points of dynamic objects onto the ground.…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under varying sensor configurations and weather…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

This article focuses on analyzing the performance of a typical time-of-flight (ToF) LiDAR under fog environment. By controlling the fog density within CEREMA Adverse Weather Facility 1 , the relations between the ranging performance and…

Autonomous vehicles (AVs) rely on environment perception and behavior prediction to reason about agents in their surroundings. These perception systems must be robust to adverse weather such as rain, fog, and snow. However, validation of…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

This work presents a probabilistic deep neural network that combines LiDAR point clouds and RGB camera images for robust, accurate 3D object detection. We explicitly model uncertainties in the classification and regression tasks, and…

Accurately localizing 3D objects like pedestrians, cyclists, and other vehicles is essential in Autonomous Driving. To ensure high detection performance, Autonomous Vehicles complement RGB cameras with LiDAR sensors, but effectively…

For 3D object detection, both camera and lidar have been demonstrated to be useful sensory devices for providing complementary information about the same scenery with data representations in different modalities, e.g., 2D RGB image vs 3D…

Object detection applied to LiDAR point clouds is a relevant task in robotics, and particularly in autonomous driving. Single frame methods, predominant in the field, exploit information from individual sensor scans. Recent approaches…

We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

The fusion of multimodal sensor data streams such as camera images and lidar point clouds plays an important role in the operation of autonomous vehicles (AVs). Robust perception across a range of adverse weather and lighting conditions is…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

With the widespread application of Light Detection and Ranging (LiDAR) technology in fields such as autonomous driving, robot navigation, and terrain mapping, the importance of edge detection in LiDAR images has become increasingly…