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

Although various 3D datasets with different functions and scales have been proposed recently, it remains challenging for individuals to complete the whole pipeline of large-scale data collection, sanitization, and annotation. Moreover, the…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

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…

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…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Building models capable of generating structured output is a key challenge for AI and robotics. While generative models have been explored on many types of data, little work has been done on synthesizing lidar scans, which play a key role…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…

We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…

Segmenting or detecting objects in sparse Lidar point clouds are two important tasks in autonomous driving to allow a vehicle to act safely in its 3D environment. The best performing methods in 3D semantic segmentation or object detection…

Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

We propose ActiveSplat, an autonomous high-fidelity reconstruction system leveraging Gaussian splatting. Taking advantage of efficient and realistic rendering, the system establishes a unified framework for online mapping, viewpoint…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

End-to-end autonomous driving solutions, which directly process multimodal sensory data and output fine-grained control commands, have gradually become a mainstream direction with the development of autonomous driving technology. However,…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…