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

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

LiDAR-generated point clouds are crucial for perceiving outdoor environments. The segmentation of point clouds is also essential for many applications. Previous research has focused on using self-attention and convolution (local attention)…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained…

Pothole detection is crucial for road safety and maintenance, traditionally relying on 2D image segmentation. However, existing 3D Semantic Pothole Segmentation research often overlooks point cloud sparsity, leading to suboptimal local…

Visual-based perception is the key module for autonomous driving. Among those visual perception tasks, video object detection is a primary yet challenging one because of feature degradation caused by fast motion or multiple poses. Current…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Scene flow depicts the dynamics of a 3D scene, which is critical for various applications such as autonomous driving, robot navigation, AR/VR, etc. Conventionally, scene flow is estimated from dense/regular RGB video frames. With the…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

In this paper, we propose one novel model for point cloud semantic segmentation, which exploits both the local and global structures within the point cloud based on the contextual point representations. Specifically, we enrich each point…

Large-scale point cloud semantic segmentation is an important task in 3D computer vision, which is widely applied in autonomous driving, robotics, and virtual reality. Current large-scale point cloud semantic segmentation methods usually…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Transferring existing image-based detectors to the video is non-trivial since the quality of frames is always deteriorated by part occlusion, rare pose, and motion blur. Previous approaches exploit to propagate and aggregate features across…

Although convolutional representation of multiscale sparse tensor demonstrated its superior efficiency to accurately model the occupancy probability for the compression of geometry component of dense object point clouds, its capacity for…