相关论文: Context-Aware Data Augmentation for LIDAR 3D Objec…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…

LiDAR and cameras are two complementary sensors for 3D perception in autonomous driving. LiDAR point clouds have accurate spatial and geometry information, while RGB images provide textural and color data for context reasoning. To exploit…

Accurate and robust LiDAR 3D object detection is essential for comprehensive scene understanding in autonomous driving. Despite its importance, LiDAR detection performance is limited by inherent constraints of point cloud data, particularly…

This paper presents a LiDAR-based object detection system with real-time voice specifications, integrating KITTI's 3D point clouds and RGB images through a multi-modal PointNet framework. It achieves 87.0% validation accuracy on a…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

Recent studies have focused on enhancing the performance of 3D object detection models. Among various approaches, ground-truth sampling has been proposed as an augmentation technique to address the challenges posed by limited ground-truth…

Cameras and LiDARs are both important sensors for autonomous driving, playing critical roles in 3D object detection. Camera-LiDAR Fusion has been a prevalent solution for robust and accurate driving perception. In contrast to the vast…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Continuous-Time Dynamic Graph (CTDG) precisely models evolving real-world relationships, drawing heightened interest in dynamic graph learning across academia and industry. However, existing CTDG models encounter challenges stemming from…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Retrieval Augmented Generation (RAG) has emerged as a widely adopted approach to mitigate the limitations of large language models (LLMs) in answering domain-specific questions. Previous research has predominantly focused on improving the…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

Object detection on Lidar point cloud data is a promising technology for autonomous driving and robotics which has seen a significant rise in performance and accuracy during recent years. Particularly uncertainty estimation is a crucial…

3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…

Adverse weather conditions, such as rain, snow, and fog, severely degrade LiDAR semantic segmentation by introducing refraction, scattering, and point dropouts that compromise geometric integrity. While prior approaches ranging from weather…

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…

In recent years, one of the most popular techniques in the computer vision community has been the deep learning technique. As a data-driven technique, deep model requires enormous amounts of accurately labelled training data, which is often…