相关论文: LiDAR-based 4D Panoptic Segmentation via Dynamic S…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

Panoptic segmentation as an integrated task of both static environmental understanding and dynamic object identification, has recently begun to receive broad research interest. In this paper, we propose a new computationally efficient LiDAR…

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…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

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…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

3D Transformers have achieved great success in point cloud understanding and representation. However, there is still considerable scope for further development in effective and efficient Transformers for large-scale LiDAR point cloud scene…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection challenging. This paper introduces CurbNet, a novel…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

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…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally…

The generation of realistic LiDAR point clouds plays a crucial role in the development and evaluation of autonomous driving systems. Although recent methods for 3D LiDAR point cloud generation have shown significant improvements, they still…

LiDAR sensor is essential to the perception system in autonomous vehicles and intelligent robots. To fulfill the real-time requirements in real-world applications, it is necessary to efficiently segment the LiDAR scans. Most of previous…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…