相关论文: Mitigating Shadows in Lidar Scan Matching using Sp…

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…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Differentiable rendering has received increasing interest for image-based inverse problems. It can benefit traditional optimization-based solutions to inverse problems, but also allows for self-supervision of learning-based approaches for…

Bundle adjustment (BA) on LiDAR point clouds has been extensively investigated in recent years due to its ability to optimize multiple poses together, resulting in high accuracy and global consistency for point cloud. However, the accuracy…

Simultaneous Localization and Mapping (SLAM) has wide robotic applications such as autonomous driving and unmanned aerial vehicles. Both computational efficiency and localization accuracy are of great importance towards a good SLAM system.…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Reliable image correspondences form the foundation of vision-based spatial perception, enabling recovery of 3D structure and camera poses. However, unconstrained feature matching across domains such as aerial, indoor, and outdoor scenes…

Shadows are often under-considered or even ignored in image editing applications, limiting the realism of the edited results. In this paper, we introduce MetaShadow, a three-in-one versatile framework that enables detection, removal, and…

An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…

Shadows are common aspect of images and when left undetected can hinder scene understanding and visual processing. We propose a simple yet effective approach based on reflectance to detect shadows from single image. An image is first…

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…

Ground surface detection in point cloud is widely used as a key module in autonomous driving systems. Different from previous approaches which are mostly developed for lidars with high beam resolution, e.g. Velodyne HDL-64, this paper…

Multi-view stereo (MVS) reconstruction is essential for creating 3D models. The approach involves applying epipolar rectification followed by dense matching for disparity estimation. However, existing approaches face challenges in applying…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

Multi-sensor fusion using LiDAR and RGB cameras significantly enhances 3D object detection task. However, conventional LiDAR sensors perform dense, stateless scans, ignoring the strong temporal continuity in real-world scenes. This leads to…

This paper presents VoxelMap++: a voxel mapping method with plane merging which can effectively improve the accuracy and efficiency of LiDAR(-inertial) based simultaneous localization and mapping (SLAM). This map is a collection of voxels…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…