相关论文: Learning to Detect Mobile Objects from LiDAR Scans…

3D object detection is one of the most important components in any Self-Driving stack, but current state-of-the-art (SOTA) lidar object detectors require costly & slow manual annotation of 3D bounding boxes to perform well. Recently,…

Recent advances in the field of machine learning and computer vision have enabled the development of fast and accurate road detectors. Commonly such systems are trained within a supervised learning paradigm where both an input sensor's data…

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…

Most existing distance metric learning approaches use fully labeled data to learn the sample similarities in an embedding space. We present a self-training framework, SLADE, to improve retrieval performance by leveraging additional…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…

In recent years, deep learning technology has been maturely applied in the field of object detection, and most algorithms tend to be supervised learning. However, a large amount of labeled data requires high costs of human resources, which…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…

Teaching machines of scene contextual knowledge would enable them to interact more effectively with the environment and to anticipate or predict objects that may not be immediately apparent in their perceptual field. In this paper, we…

3D object detection is an important task in computer vision. Most existing methods require a large number of high-quality 3D annotations, which are expensive to collect. Especially for outdoor scenes, the problem becomes more severe due to…

Building robust 3D perception for self-driving still relies heavily on large-scale data collection and manual annotation, yet this paradigm becomes impractical as deployment expands across diverse cities and regions. Meanwhile, modern…

LiDAR perception is fundamental to robotics, enabling machines to understand their environment in 3D. A crucial task for LiDAR-based scene understanding and navigation is ground segmentation. However, existing methods are either handcrafted…

The performance of existing point cloud-based 3D object detection methods heavily relies on large-scale high-quality 3D annotations. However, such annotations are often tedious and expensive to collect. Semi-supervised learning is a good…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

A key challenge of supervised learning is the availability of human-labeled data. We evaluate a big data processing pipeline to auto-generate labels for remote sensing data. It is based on rasterized statistical features extracted from…

In this paper, an automatic labelling process is presented for automotive datasets, leveraging on complementary information from LiDAR and camera. The generated labels are then used as ground truth with the corresponding 4D radar data as…

Effectively utilizing the vast amounts of ego-centric navigation data that is freely available on the internet can advance generalized intelligent systems, i.e., to robustly scale across perspectives, platforms, environmental conditions,…

Data labeling for learning 3D hand pose estimation models is a huge effort. Readily available, accurately labeled synthetic data has the potential to reduce the effort. However, to successfully exploit synthetic data, current…

When an object detector is deployed in a novel setting it often experiences a drop in performance. This paper studies how an embodied agent can automatically fine-tune a pre-existing object detector while exploring and acquiring images in a…