相关论文: Pattern-Aware Data Augmentation for LiDAR 3D Objec…

Deep neural networks (DNNs) are increasingly integrated into LiDAR (Light Detection and Ranging)-based perception systems for autonomous vehicles (AVs), requiring robust performance under adversarial conditions. We aim to address the…

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…

Object detection in aerial images is an important task in environmental, economic, and infrastructure-related tasks. One of the most prominent applications is the detection of vehicles, for which deep learning approaches are increasingly…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Scarcity of training data is one of the prominent problems for deep networks which require large amounts data. Data augmentation is a widely used method to increase the number of training samples and their variations. In this paper, we…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Accurate ground truth annotations are critical to supervised learning and evaluating the performance of autonomous vehicle systems. These vehicles are typically equipped with active sensors, such as LiDAR, which scan the environment in…

3D object detectors are fundamental components of perception systems in autonomous vehicles. While these detectors achieve remarkable performance on standard autonomous driving benchmarks, they often struggle to generalize across different…

Vision-based autonomous driving requires reliable and efficient object detection. This work proposes a DiffusionDet-based framework that exploits data fusion from the monocular camera and depth sensor to provide the RGB and depth (RGB-D)…

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…

Accurate 3D object detection and understanding for self-driving cars heavily relies on LiDAR point clouds, necessitating large amounts of labeled data to train. In this work, we introduce an innovative pre-training approach, Grounded Point…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input…

LiDAR's dense, sharp point cloud (PC) representations of the surrounding environment enable accurate perception and significantly improve road safety by offering greater scene awareness and understanding. However, LiDAR's high cost…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…