相关论文: Quantifying point cloud realism through adversaria…

A considerable amount of research is concerned with the generation of realistic sensor data. LiDAR point clouds are generated by complex simulations or learned generative models. The generated data is usually exploited to enable or improve…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…

We present LiDARGen, a novel, effective, and controllable generative model that produces realistic LiDAR point cloud sensory readings. Our method leverages the powerful score-matching energy-based model and formulates the point cloud…

LiDAR object detection algorithms based on neural networks for autonomous driving require large amounts of data for training, validation, and testing. As real-world data collection and labeling are time-consuming and expensive,…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Self-supervised methods have been proven effective for learning deep representations of 3D point cloud data. Although recent methods in this domain often rely on random masking of inputs, the results of this approach can be improved. We…

This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize…

Semantic analyses of object point clouds are largely driven by releasing of benchmarking datasets, including synthetic ones whose instances are sampled from object CAD models. However, learning from synthetic data may not generalize to…

Estimating normals for noisy point clouds is a persistent challenge in 3D geometry processing, particularly for end-to-end oriented normal estimation. Existing methods generally address relatively clean data and rely on supervised priors to…

We examined the feasibility of generative adversarial networks (GANs) to generate photo-realistic images from LiDAR point clouds. For this purpose, we created a dataset of point cloud image pairs and trained the GAN to predict…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

Accurate 3D geometry acquisition is essential for a wide range of applications, such as computer graphics, autonomous driving, robotics, and augmented reality. However, raw point clouds acquired in real-world environments are often…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

The continual improvement of 3D sensors has driven the development of algorithms to perform point cloud analysis. In fact, techniques for point cloud classification and segmentation have in recent years achieved incredible performance…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Imperfection in the acquisition process means that point clouds are often corrupted with noise. Building on recent advances in…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Point clouds have attracted increasing attention. Significant progress has been made in methods for point cloud analysis, which often requires costly human annotation as supervision. To address this issue, we propose a novel…

We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise,…