相关论文: PCB-RandNet: Rethinking Random Sampling for LIDAR …

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

Critical research about camera-and-LiDAR-based semantic object segmentation for autonomous driving significantly benefited from the recent development of deep learning. Specifically, the vision transformer is the novel ground-breaker that…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

The segmentation of drivable areas and road anomalies are critical capabilities to achieve autonomous navigation for robotic wheelchairs. The recent progress of semantic segmentation using deep learning techniques has presented effective…

When using LiDAR semantic segmentation models for safety-critical applications such as autonomous driving, it is essential to understand and improve their robustness with respect to a large range of LiDAR corruptions. In this paper, we aim…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Point cloud understanding aims to acquire robust and general feature representations from unlabeled data. Masked point modeling-based methods have recently shown significant performance across various downstream tasks. These pre-training…

LiDAR (Light Detection and Ranging) has become an essential part of the remote sensing toolbox used for biosphere monitoring. In particular, LiDAR provides the opportunity to map forest leaf area with unprecedented accuracy, while leaf area…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

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…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Common image-based LiDAR point cloud semantic segmentation (LiDAR PCSS) approaches have bottlenecks resulting from the boundary-blurring problem of convolution neural networks (CNNs) and quantitation loss of spherical projection. In this…

This paper presents a field-programmable gate array (FPGA) design of a segmentation algorithm based on convolutional neural network (CNN) that can process light detection and ranging (LiDAR) data in real-time. For autonomous vehicles,…

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the…

Sampling, grouping, and aggregation are three important components in the multi-scale analysis of point clouds. In this paper, we present a novel data-driven sampler learning strategy for point-wise analysis tasks. Unlike the widely used…

Real-time semantic segmentation models offer an excellent balance between accuracy and inference speed. However, deploying these models in dynamic real world environments often requires the ability to learn novel classes incrementally…