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

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

LiDAR sensors have been widely used in many autonomous vehicle modalities, such as perception, mapping, and localization. This paper presents an FPGA-based deep learning platform for real-time point cloud processing targeted on autonomous…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Many particle physics datasets like those generated at colliders are described by continuous coordinates (in contrast to grid points like in an image), respect a number of symmetries (like permutation invariance), and have a stochastic…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Data plays a crucial role in training learning-based methods for 3D point cloud registration. However, the real-world dataset is expensive to build, while rendering-based synthetic data suffers from domain gaps. In this work, we present…

While surface normals are widely used to analyse 3D scene geometry, surface normal estimation from LiDAR point clouds remains severely underexplored. This is caused by the lack of large-scale annotated datasets on the one hand, and lack of…

This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize…

There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…

With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…

We propose and evaluate a neural point-based graphics method that can model semi-transparent scene parts. Similarly to its predecessor pipeline, ours uses point clouds to model proxy geometry, and augments each point with a neural…

Single Object Tracking in LiDAR point cloud is one of the most essential parts of environmental perception, in which small objects are inevitable in real-world scenarios and will bring a significant barrier to the accurate location.…

Capturing real-world 3D spaces as point clouds is efficient and descriptive, but it comes with sensor errors and lacks object parametrization. These limitations render point clouds unsuitable for various real-world applications, such as…

At I/ITSEC 2019, the authors presented a fully-automated workflow to segment 3D photogrammetric point-clouds/meshes and extract object information, including individual tree locations and ground materials (Chen et al., 2019). The ultimate…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…