相关论文: Automatic Labeling to Generate Training Data for O…

Moving object segmentation (MOS) provides a reliable solution for detecting traffic participants and thus is of great interest in the autonomous driving field. Dynamic capture is always critical in the MOS problem. Previous methods capture…

Learning-based perception and prediction modules in modern autonomous driving systems typically rely on expensive human annotation and are designed to perceive only a handful of predefined object categories. This closed-set paradigm is…

Deep learning applications on LiDAR data suffer from a strong domain gap when applied to different sensors or tasks. In order for these methods to obtain similar accuracy on different data in comparison to values reported on public…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

In this paper, we propose a learning-based moving-object tracking method utilizing our newly developed LiDAR sensor, Frequency Modulated Continuous Wave (FMCW) LiDAR. Compared with most existing commercial LiDAR sensors, our FMCW LiDAR can…

Modern computing and communication technologies can make data collection procedures very efficient. However, our ability to analyze large data sets and/or to extract information out from them is hard-pressed to keep up with our capacities…

To be effective in unstructured and changing environments, robots must learn to recognize new objects. Deep learning has enabled rapid progress for object detection and segmentation in computer vision; however, this progress comes at the…

Visual perception tasks often require vast amounts of labelled data, including 3D poses and image space segmentation masks. The process of creating such training data sets can prove difficult or time-intensive to scale up to efficacy for…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

In this paper, we propose Augmented Reality Semi-automatic labeling (ARS), a semi-automatic method which leverages on moving a 2D camera by means of a robot, proving precise camera tracking, and an augmented reality pen to define initial…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Object-level data association is central to robotic applications such as tracking-by-detection and object-level simultaneous localization and mapping. While current learned visual data association methods outperform hand-crafted algorithms,…

As the demand for autonomous navigation in off-road environments increases, the need for effective solutions to understand these surroundings becomes essential. In this study, we confront the inherent complexities of semantic segmentation…

The awareness about moving objects in the surroundings of a self-driving vehicle is essential for safe and reliable autonomous navigation. The interpretation of LiDAR and camera data achieves exceptional results but typically requires to…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…

Accurate object segmentation is a crucial task in the context of robotic manipulation. However, creating sufficient annotated training data for neural networks is particularly time consuming and often requires manual labeling. To this end,…

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…

This paper proposes an algorithm for automatically labeling 3D objects from 2D point or box prompts, especially focusing on applications in autonomous driving. Unlike previous arts, our auto-labeler predicts 3D shapes instead of bounding…