相关论文: ALSO: Automotive Lidar Self-supervision by Occupan…

We propose a fast and accurate surface reconstruction algorithm for unorganized point clouds using an implicit representation. Recent learning methods are either single-object representations with small neural models that allow for high…

Semantic understanding of 3D point clouds is important for various robotics applications. Given that point-wise semantic annotation is expensive, in this paper, we address the challenge of learning models with extremely sparse labels. The…

Self-supervised learning (SSL) on 3D point clouds has the potential to learn feature representations that can transfer to diverse sensors and multiple downstream perception tasks. However, recent SSL approaches fail to define pretext tasks…

Image-based 3D detection is an indispensable component of the perception system for autonomous driving. However, it still suffers from the unsatisfying performance, one of the main reasons for which is the limited training data.…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

LiDAR point clouds collected from a moving vehicle are functions of its trajectories, because the sensor motion needs to be compensated to avoid distortions. When autonomous vehicles are sending LiDAR point clouds to deep networks for…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…

Self-supervised learning has proved to be a powerful approach to learn image representations without the need of large labeled datasets. For underwater robotics, it is of great interest to design computer vision algorithms to improve…

Self-supervised learning is popular method because of its ability to learn features in images without using its labels and is able to overcome limited labeled datasets used in supervised learning. Self-supervised learning works by using a…

An effective framework for learning 3D representations for perception tasks is distilling rich self-supervised image features via contrastive learning. However, image-to point representation learning for autonomous driving datasets faces…

Many learning-based approaches have difficulty scaling to unseen data, as the generality of its learned prior is limited to the scale and variations of the training samples. This holds particularly true with 3D learning tasks, given the…

As the field of deep learning steadily transitions from the realm of academic research to practical application, the significance of self-supervised pretraining methods has become increasingly prominent. These methods, particularly in the…

Learning dense point-wise semantics from unstructured 3D point clouds with fewer labels, although a realistic problem, has been under-explored in literature. While existing weakly supervised methods can effectively learn semantics with only…

In recent years, policy learning methods using either reinforcement or imitation have made significant progress. However, both techniques still suffer from being computationally expensive and requiring large amounts of training data. This…

Road detection and segmentation is a crucial task in computer vision for safe autonomous driving. With this in mind, a new net architecture (3D-DEEP) and its end-to-end training methodology for CNN-based semantic segmentation are described…

In this work, we introduce LEAD, an approach to discover landmarks from an unannotated collection of category-specific images. Existing works in self-supervised landmark detection are based on learning dense (pixel-level) feature…

This paper describes recent developments in object specific pose and shape prediction from single images. The main contribution is a new approach to camera pose prediction by self-supervised learning of keypoints corresponding to locations…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

When watching videos, the occurrence of a visual event is often accompanied by an audio event, e.g., the voice of lip motion, the music of playing instruments. There is an underlying correlation between audio and visual events, which can be…