相关论文: Efficient Spatial-Temporal Information Fusion for …

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Reliable, drift-free global localization presents significant challenges yet remains crucial for autonomous navigation in large-scale dynamic environments. In this paper, we introduce a tightly-coupled Semantic-LiDAR-Inertial-Wheel Odometry…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Moving Object Detection (MOD) is a critical task for autonomous vehicles as moving objects represent higher collision risk than static ones. The trajectory of the ego-vehicle is planned based on the future states of detected moving objects.…

Multi-object tracking (MOT) enables mobile robots to perform well-informed motion planning and navigation by localizing surrounding objects in 3D space and time. Existing methods rely on depth sensors (e.g., LiDAR) to detect and track…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Although significant progress has been made, achieving place recognition in environments with perspective changes, seasonal variations, and scene transformations remains challenging. Relying solely on perception information from a single…

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…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…

Accurate and high-fidelity driving scene reconstruction relies on fully leveraging scene information as conditioning. However, existing approaches, which primarily use 3D bounding boxes and binary maps for foreground and background control,…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

Multi-modality fusion is proven an effective method for 3d perception for autonomous driving. However, most current multi-modality fusion pipelines for LiDAR semantic segmentation have complicated fusion mechanisms. Point painting is a…

Multi-sensor fusion in autonomous vehicles is becoming more common to offer a more robust alternative for several perception tasks. This need arises from the unique contribution of each sensor in collecting data: camera-radar fusion offers…

3D object detection is an essential task in autonomous driving. Recent techniques excel with highly accurate detection rates, provided the 3D input data is obtained from precise but expensive LiDAR technology. Approaches based on cheaper…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

Training deep models for LiDAR semantic segmentation is challenging due to the inherent sparsity of point clouds. Utilizing temporal data is a natural remedy against the sparsity problem as it makes the input signal denser. However,…