相关论文: PCSCNet: Fast 3D Semantic Segmentation of LiDAR Po…

We study the use of image-based Vision-Language Models (VLMs) for open-vocabulary segmentation of lidar scans in driving settings. Classically, image semantics can be back-projected onto 3D point clouds. Yet, resulting point labels are…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

In autonomous Vehicles technology Image segmentation was a major problem in visual perception. This image segmentation process is mainly used in medical applications. Here we adopted an image segmentation process to visual perception tasks…

Object detection is a crucial task for autonomous driving. In addition to requiring high accuracy to ensure safety, object detection for autonomous driving also requires real-time inference speed to guarantee prompt vehicle control, as well…

We present a novel graph-neural-network-based system to effectively represent large-scale 3D point clouds with the applications to autonomous driving. Many previous works studied the representations of 3D point clouds based on two…

Autonomous vehicles rely heavily on sensors such as camera and LiDAR, which provide real-time information about their surroundings for the tasks of perception, planning and control. Typically a LiDAR can only provide sparse point cloud…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

It is a challenging task to accurately perform semantic segmentation due to the complexity of real picture scenes. Many semantic segmentation methods based on traditional deep learning insufficiently captured the semantic and appearance…

LiDAR odometry estimation and 3D semantic segmentation are crucial for autonomous driving, which has achieved remarkable advances recently. However, these tasks are challenging due to the imbalance of points in different semantic categories…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

Stereo-LiDAR fusion is a promising task in that we can utilize two different types of 3D perceptions for practical usage -- dense 3D information (stereo cameras) and highly-accurate sparse point clouds (LiDAR). However, due to their…

The widespread adoption of autonomous systems such as drones and assistant robots has created a need for real-time high-quality semantic scene segmentation. In this paper, we propose an efficient yet robust technique for on-the-fly dense…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

Most point cloud compression methods operate in the voxel or octree domain which is not the original representation of point clouds. Those representations either remove the geometric information or require high computational power for…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

Object detection in point cloud data is one of the key components in computer vision systems, especially for autonomous driving applications. In this work, we present Voxel-FPN, a novel one-stage 3D object detector that utilizes raw data…