相关论文: Point Cloud Segmentation Using Sparse Temporal Loc…

In recent times, there has been a notable surge in multimodal approaches that decorates raw LiDAR point clouds with camera-derived features to improve object detection performance. However, we found that these methods still grapple with the…

Research in point cloud analysis with deep neural networks has made rapid progress in recent years. The pioneering work PointNet offered a direct analysis of point clouds. However, due to its architecture PointNet is not able to capture…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

3D point cloud segmentation has made tremendous progress in recent years. Most current methods focus on aggregating local features, but fail to directly model long-range dependencies. In this paper, we propose Stratified Transformer that is…

Point cloud segmentation, which helps us understand the environment of specific structures and objects, can be performed in class-specific and class-agnostic ways. We propose a novel region-based transformer model called Region-Transformer…

Text-to-point-cloud cross-modal localization is an emerging vision-language task critical for future robot-human collaboration. It seeks to localize a position from a city-scale point cloud scene based on a few natural language…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Pixel-level labels are particularly expensive to acquire. Hence, pretraining is a critical step to improve models on a task like semantic segmentation. However, prominent algorithms for pretraining neural networks use image-level…

Despite the recent advances of deep neural networks, object detection for adverse weather remains challenging due to the poor perception of some sensors in adverse weather. Instead of relying on one single sensor, multimodal fusion has been…

Self-attention modules have demonstrated remarkable capabilities in capturing long-range relationships and improving the performance of point cloud tasks. However, point cloud objects are typically characterized by complex, disordered, and…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Since the preparation of labeled data for training semantic segmentation networks of point clouds is a time-consuming process, weakly supervised approaches have been introduced to learn from only a small fraction of data. These methods are…

In this contribution, we introduce a multilevel approximation method with T-splines for fitting scattered point clouds iteratively, with an application to land remote sensing. This new procedure provides a local surface approximation by an…

This paper presents a new method for anomaly detection in automated systems with time and compute sensitive requirements, such as autonomous driving, with unparalleled efficiency. As systems like autonomous driving become increasingly…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…