相关论文: Learning Spatial and Temporal Variations for 4D Po…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

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…

To date, various 3D scene understanding tasks still lack practical and generalizable pre-trained models, primarily due to the intricate nature of 3D scene understanding tasks and their immense variations introduced by camera views,…

The high temporal variation of the point clouds is the key challenge of 3D single-object tracking (3D SOT). Existing approaches rely on the assumption that the shape variation of the point clouds and the motion of the objects across…

The main challenge in 3D object detection from LiDAR point clouds is achieving real-time performance without affecting the reliability of the network. In other words, the detecting network must be confident enough about its predictions. In…

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…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Temporal information plays a pivotal role in Bird's-Eye-View (BEV) driving scene understanding, which can alleviate the visual information sparsity. However, the indiscriminate temporal fusion method will cause the barrier of feature…

Deep-Learning-based video recognition has shown promising improvements along with the development of large-scale datasets and spatiotemporal network architectures. In image recognition, learning spatially invariant features is a key factor…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…

Popular representation learning methods encourage feature invariance under transformations applied at the input. However, in 3D perception tasks like object localization and segmentation, outputs are naturally equivariant to some…

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…

Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…