相关论文: City-scale Incremental Neural Mapping with Three-l…

Upsampling LiDAR point clouds in autonomous driving scenarios remains a significant challenge due to the inherent sparsity and complex 3D structures of the data. Recent studies have attempted to address this problem by converting the…

In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…

Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene…

Amodal panoptic segmentation aims to connect the perception of the world to its cognitive understanding. It entails simultaneously predicting the semantic labels of visible scene regions and the entire shape of traffic participant…

We address the problem of active mapping with a continually-learned neural scene representation, namely Active Neural Mapping. The key lies in actively finding the target space to be explored with efficient agent movement, thus minimizing…

With the recent availability and affordability of commercial depth sensors and 3D scanners, an increasing number of 3D (i.e., RGBD, point cloud) datasets have been publicized to facilitate research in 3D computer vision. However, existing…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

High-quality imaging in photoacoustic computed tomography (PACT) usually requires a high-channel count system for dense spatial sampling around the object to avoid aliasing-related artefacts. To reduce system complexity, various image…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…

With the emergence of Neural Radiance Fields (NeRF), neural implicit representations have gained widespread applications across various domains, including simultaneous localization and mapping. However, current neural implicit SLAM faces a…

Depth perception is pivotal in many fields, such as robotics and autonomous driving, to name a few. Consequently, depth sensors such as LiDARs rapidly spread in many applications. The 3D point clouds generated by these sensors must often be…

High definition (HD) maps have demonstrated their essential roles in enabling full autonomy, especially in complex urban scenarios. As a crucial layer of the HD map, lane-level maps are particularly useful: they contain geometrical and…

Learning neural implicit fields of 3D shapes is a rapidly emerging field that enables shape representation at arbitrary resolutions. Due to the flexibility, neural implicit fields have succeeded in many research areas, including shape…

We introduce VERTEX, an effective solution to recover 3D shape and intrinsic texture of vehicles from uncalibrated monocular input in real-world street environments. To fully utilize the template prior of vehicles, we propose a novel…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

Real-time holistic scene understanding would allow machines to interpret their surrounding in a much more detailed manner than is currently possible. While panoptic image segmentation methods have brought image segmentation closer to this…

Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…

Multi-modal systems have the capacity of producing more reliable results than systems with a single modality in road detection due to perceiving different aspects of the scene. We focus on using raw sensor inputs instead of, as it is…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…