相关论文: LidarMultiNet: Towards a Unified Multi-Task Networ…

Semantic segmentation is a fundamental perception task in autonomous driving, particularly for identifying drivable areas and lane markings to enable safe navigation. However, most state-of-the-art (SOTA) models are computationally…

Distributed radar sensors enable robust human activity recognition. However, scaling the number of coordinated nodes introduces challenges in feature extraction from large datasets, and transparent data fusion. We propose an end-to-end…

Inspired by recent advances in vision transformers for object detection, we propose Li3DeTr, an end-to-end LiDAR based 3D Detection Transformer for autonomous driving, that inputs LiDAR point clouds and regresses 3D bounding boxes. The…

Point-, voxel-, and range-views are three representative forms of point clouds. All of them have accurate 3D measurements but lack color and texture information. RGB images are a natural complement to these point cloud views and fully…

Vision-based models for robotic grasping automate critical, repetitive, and draining industrial tasks. Existing approaches are typically limited in two ways: they either target a single gripper and are potentially applied on costly dual-arm…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

3D single object tracking with LiDAR points is an important task in the computer vision field. Previous methods usually adopt the matching-based or motion-centric paradigms to estimate the current target status. However, the former is…

The estimation of uncertainty in robotic vision, such as 3D object detection, is an essential component in developing safe autonomous systems aware of their own performance. However, the deployment of current uncertainty estimation methods…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

Monocular 3D scene understanding tasks, such as object size estimation, heading angle estimation and 3D localization, is challenging. Successful modern day methods for 3D scene understanding require the use of a 3D sensor. On the other…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

This paper addresses the task of semantic segmentation in computer vision, aiming to achieve precise pixel-wise classification. We investigate the joint training of models for semantic edge detection and semantic segmentation, which has…

Modern autonomous systems often rely on LiDAR scanners, in particular for autonomous driving scenarios. In this context, reliable scene understanding is indispensable. Current learning-based methods typically try to achieve maximum…

Accurate and real-time sensing of targets in three-dimensional (3D) environments is essential for modern machine vision, underpinning emerging technologies such as autonomous systems, robotic manipulation, augmented reality, and intelligent…

Multi-task scene understanding aims to design models that can simultaneously predict several scene understanding tasks with one versatile model. Previous studies typically process multi-task features in a more local way, and thus cannot…

State-of-the-art lidar-based 3D object detection methods rely on supervised learning and large labeled datasets. However, annotating lidar data is resource-consuming, and depending only on supervised learning limits the applicability of…

LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…