相关论文: PCGen: Point Cloud Generator for LiDAR Simulation

Earlier work demonstrates the promise of deep-learning-based approaches for point cloud segmentation; however, these approaches need to be improved to be practically useful. To this end, we introduce a new model SqueezeSegV2 that is more…

Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

Accurate camera localization is crucial for robotics and Extended Reality (XR), enabling reliable navigation and alignment of virtual and real content. Existing visual methods often suffer from drift, scale ambiguity, and depend on…

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

Generative modeling of 3D LiDAR data is an emerging task with promising applications for autonomous mobile robots, such as scalable simulation, scene manipulation, and sparse-to-dense completion of LiDAR point clouds. While existing…

Efficient point cloud (PC) compression is crucial for streaming applications, such as augmented reality and cooperative perception. Classic PC compression techniques encode all the points in a frame. Tailoring compression towards perception…

Rigorous testing of autonomous robots, such as self-driving vehicles, is essential to ensure their safety in real-world deployments. This requires building high-fidelity simulators to test scenarios beyond those that can be safely or…

Radar perception models are trained with different inputs, from range-Doppler spectra to sparse point clouds. Dense spectra are assumed to outperform sparse point clouds, yet they can vary considerably across sensors and configurations,…

Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

Deep-learning-based autonomous driving (AD) perception introduces a promising picture for safe and environment-friendly transportation. However, the over-reliance on real labeled data in LiDAR perception limits the scale of on-road…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

Gait recognition is a rapidly progressing technique for the remote identification of individuals. Prior research predominantly employing 2D sensors to gather gait data has achieved notable advancements; nonetheless, they have unavoidably…

The generation of LiDAR scans is a growing topic with diverse applications to autonomous driving. However, scan generation remains challenging, especially when compared to the rapid advancement of image and 3D object generation. We consider…

Point clouds are a fundamental representation for robotic perception tasks such as localization, mapping, and object pose estimation. However, LiDAR-acquired point clouds are inherently sparse and non-uniform, providing incomplete…

The detection of multiple extended targets in complex environments using high-resolution automotive radar is considered. A data-driven approach is proposed where unlabeled synchronized lidar data is used as ground truth to train a neural…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…