相关论文: Mitigating Shadows in Lidar Scan Matching using Sp…
Large-scale incremental mapping is fundamental to the development of robust and reliable autonomous systems, as it underpins incremental environmental understanding with sequential inputs for navigation and decision-making. LiDAR is widely…
Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…
We present LiDAR-EDIT, a novel paradigm for generating synthetic LiDAR data for autonomous driving. Our framework edits real-world LiDAR scans by introducing new object layouts while preserving the realism of the background environment.…
3D surface reconstruction is essential across applications of virtual reality, robotics, and mobile scanning. However, RGB-based reconstruction often fails in low-texture, low-light, and low-albedo scenes. Handheld LiDARs, now common on…
LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…
Nowadays, static, mobile, terrestrial, and airborne laser scanning technologies have become familiar data sources for engineering work, especially in the area of land surveying. The diversity of Light Detection and Ranging (LiDAR) data…
In recent years, various shadow detection methods from a single image have been proposed and used in vision systems; however, most of them are not appropriate for the robotic applications due to the expensive time complexity. This paper…
We show how shadows can be efficiently generated in differentiable rendering of triangle meshes. Our central observation is that pre-filtered shadow mapping, a technique for approximating shadows based on rendering from the perspective of a…
Numerical weather forecasts can exhibit systematic errors due to simplifying model assumptions and computational approximations. Statistical postprocessing is a statistical approach to correcting such biases. A statistical postprocessing…
Shadows often create unwanted artifacts in photographs, and removing them can be very challenging. Previous shadow removal methods often produce de-shadowed regions that are visually inconsistent with the rest of the image. In this work we…
We investigate LiDAR guidance within the RAFT-Stereo framework, aiming to improve stereo matching accuracy by injecting precise LiDAR depth into the initial disparity map. We find that the effectiveness of LiDAR guidance drastically…
This paper proposes a non-computational method of counteracting the effect of image degradation introduced by the diffraction phenomenon in lensless microscopy. All the optical images (whether focused by lenses or not) are diffraction…
Lidar point cloud distortion from moving object is an important problem in autonomous driving, and recently becomes even more demanding with the emerging of newer lidars, which feature back-and-forth scanning patterns. Accurately estimating…
Synthetic aperture radar (SAR) images are widely used in target recognition tasks nowadays. In this letter, we propose an automatic approach for radar shadow detection and extraction from SAR images utilizing geometric projections along…
Recovering shadows is an important step for many vision algorithms. Current approaches that work with time-lapse sequences are limited to simple thresholding heuristics. We show these approaches only work with very careful tuning of…
LiDAR-camera fusion is one of the core processes for the perception system of current automated driving systems. The typical sensor fusion process includes a list of coordinate transformation operations following system calibration.…
For object detection in wide-area aerial imagery, post-processing is usually needed to reduce false detections. We propose a two-stage post-processing scheme which comprises an area-thresholding sieving process and a morphological closing…
Estimating expectation values is a key subroutine in quantum algorithms. Near-term implementations face two major challenges: a limited number of samples required to learn a large collection of observables, and the accumulation of errors in…
Video synthetic aperture radar (ViSAR) has attracted substantial attention in the moving target detection (MTD) field due to its ability to continuously monitor changes in the target area. In ViSAR, the moving targets' shadows will not…
Static LiDAR scanners produce accurate, dense, colored point clouds, but often contain obtrusive artifacts which makes them ill-suited for direct display. We propose an efficient method to render photorealistic images of such scans without…