相关论文: Learning to Generate Realistic LiDAR Point Clouds

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

This paper presents a generative adversarial network (GAN) based approach for radar image enhancement. Although radar sensors remain robust for operations under adverse weather conditions, their application in autonomous vehicles (AVs) is…

Synthesizing high-fidelity and controllable 4D LiDAR data is crucial for creating scalable simulation environments for autonomous driving. This task is inherently challenging due to the sensor's unique spherical geometry, the temporal…

The light detection and ranging (LiDAR) technology allows to sense surrounding objects with fine-grained resolution in a large areas. Their data (aka point clouds), generated continuously at very high rates, can provide information to…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…

As 3D point clouds become the representation of choice for multiple vision and graphics applications, the ability to synthesize or reconstruct high-resolution, high-fidelity point clouds becomes crucial. Despite the recent success of deep…

LiDARs have been widely adopted to modern self-driving vehicles, providing 3D information of the scene and surrounding objects. However, adverser weather conditions still pose significant challenges to LiDARs since point clouds captured…

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…

In the era of deep learning, data is the critical determining factor in the performance of neural network models. Generating large datasets suffers from various difficulties such as scalability, cost efficiency and photorealism. To avoid…

We propose a generative model of unordered point sets, such as point clouds, in the form of an energy-based model, where the energy function is parameterized by an input-permutation-invariant bottom-up neural network. The energy function…

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…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…

The search for refining 3D LiDAR data has attracted growing interest motivated by recent techniques such as supervised learning or generative model-based methods. Existing approaches have shown the possibilities for using diffusion models…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

Score based generative models are a new class of generative models that have been shown to accurately generate high dimensional calorimeter datasets. Recent advances in generative models have used images with 3D voxels to represent and…