相关论文: Unsupervised confidence for LiDAR depth maps and a…

The perception of transparent objects is one of the well-known challenges in computer vision. Conventional depth sensors have difficulty in sensing the depth of transparent objects due to refraction and reflection of light. Previous…

LiDAR-camera fusion enhances 3D panoptic segmentation by leveraging camera images to complement sparse LiDAR scans, but it also introduces a critical failure mode. Under adverse conditions, degradation or failure of the camera sensor can…

Unsupervised stereo matching has garnered significant attention for its independence from costly disparity annotations. Typical unsupervised methods rely on the multi-view consistency assumption for training networks, which suffer…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

This paper presents a simulation workflow for generating synthetic LiDAR datasets to support autonomous vehicle perception, robotics research, and sensor security analysis. Leveraging the CoppeliaSim simulation environment and its Python…

Modern high-definition LIDAR is expensive for commercial autonomous driving vehicles and small indoor robots. An affordable solution to this problem is fusion of planar LIDAR with RGB images to provide a similar level of perception…

We propose a new approach called LiDAR-Flow to robustly estimate a dense scene flow by fusing a sparse LiDAR with stereo images. We take the advantage of the high accuracy of LiDAR to resolve the lack of information in some regions of…

Three-dimensional imaging plays an important role in imaging applications where it is necessary to record depth. The number of applications that use depth imaging is increasing rapidly, and examples include self-driving autonomous vehicles…

Gated cameras hold promise as an alternative to scanning LiDAR sensors with high-resolution 3D depth that is robust to back-scatter in fog, snow, and rain. Instead of sequentially scanning a scene and directly recording depth via the photon…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

The integration of data from diverse sensor modalities (e.g., camera and LiDAR) constitutes a prevalent methodology within the ambit of autonomous driving scenarios. Recent advancements in efficient point cloud transformers have underscored…

Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing capability, knowledge of depth is an essential part in many…

The proposal of Pseudo-Lidar representation has significantly narrowed the gap between visual-based and active Lidar-based 3D object detection. However, current researches exclusively focus on pushing the accuracy improvement of…

We present an approach to depth estimation that fuses information from a stereo pair with sparse range measurements derived from a LIDAR sensor or a range camera. The goal of this work is to exploit the complementary strengths of the two…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

Modern lidar systems can produce not only dense point clouds but also 360 degrees low-resolution images. This advancement facilitates the application of deep learning (DL) techniques initially developed for conventional RGB cameras and…

Although cameras are ubiquitous, robotic platforms typically rely on active sensors like LiDAR for direct 3D perception. In this work, we propose a novel self-supervised monocular depth estimation method combining geometry with a new deep…

Monocular 3D object detection (M3OD) is a significant yet inherently challenging task in autonomous driving due to absence of explicit depth cues in a single RGB image. In this paper, we strive to boost currently underperforming monocular…