相关论文: An Efficient Semi-Automated Scheme for Infrastruct…

A major bottleneck to scaling-up training of self-driving perception systems are the human annotations required for supervision. A promising alternative is to leverage "auto-labelling" offboard perception models that are trained to…

Automated vehicles rely on an accurate and robust perception of the environment. Similarly to automated cars, highly automated trains require an environmental perception. Although there is a lot of research based on either camera or LiDAR…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Autonomous driving has achieved rapid development over the last few decades, including the machine perception as an important issue of it. Although object detection based on conventional cameras has achieved remarkable results in 2D/3D,…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment,…

Current state-of-the-art (SOTA) 3D object detection methods often require a large amount of 3D bounding box annotations for training. However, collecting such large-scale densely-supervised datasets is notoriously costly. To reduce the…

Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…

Unlike humans, who can effortlessly estimate the entirety of objects even when partially occluded, modern computer vision algorithms still find this aspect extremely challenging. Leveraging this amodal perception for autonomous driving…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

Road infrastructure maintenance inspection is typically a labor-intensive and critical task to ensure the safety of all road users. Existing state-of-the-art techniques in Artificial Intelligence (AI) for object detection and segmentation…

Radar has long been a common sensor on autonomous vehicles for obstacle ranging and speed estimation. However, as a robust sensor to all-weather conditions, radar's capability has not been well-exploited, compared with camera or LiDAR.…

3D detection of traffic management objects, such as traffic lights and road signs, is vital for self-driving cars, particularly for address-to-address navigation where vehicles encounter numerous intersections with these static objects.…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

Training a deep object detector for autonomous driving requires a huge amount of labeled data. While recording data via on-board sensors such as camera or LiDAR is relatively easy, annotating data is very tedious and time-consuming,…

Object detection has witnessed significant progress by relying on large, manually annotated datasets. Annotating such datasets is highly time consuming and expensive, which motivates the development of weakly supervised and few-shot object…

Multi-object tracking from LiDAR point clouds presents unique challenges due to the sparse and irregular nature of the data, compounded by the need for temporal coherence across frames. Traditional tracking systems often rely on…