相关论文: AdaSplats: Adaptive Splatting of Point Clouds for …

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Recently, Gaussian Splatting (GS) has shown great potential for urban scene reconstruction in the field of autonomous driving. However, current urban scene reconstruction methods often depend on multimodal sensors as inputs, \textit{i.e.}…

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for real-time LiDAR and camera synthesis in autonomous driving simulation. However, simulating LiDAR with 3DGS remains challenging for extrapolated views beyond the training…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…

LiDAR provides accurate geometric measurements of the 3D world. Unfortunately, dense LiDARs are very expensive and the point clouds captured by low-beam LiDAR are often sparse. To address these issues, we present UltraLiDAR, a data-driven…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the…

LiDAR novel view synthesis (NVS) has emerged as a novel task within LiDAR simulation, offering valuable simulated point cloud data from novel viewpoints to aid in autonomous driving systems. However, existing LiDAR NVS methods typically…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…