相关论文: LiDAR-CS Dataset: LiDAR Point Cloud Dataset with C…

Accurate 3D object detection in LiDAR point clouds is crucial for autonomous driving systems. To achieve state-of-the-art performance, the supervised training of detectors requires large amounts of human-annotated data, which is expensive…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

Intelligent Transportation Systems (ITS) allow a drastic expansion of the visibility range and decrease occlusions for autonomous driving. To obtain accurate detections, detailed labeled sensor data for training is required. Unfortunately,…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Autonomous driving and assistance systems rely on annotated data from traffic and road scenarios to model and learn the various object relations in complex real-world scenarios. Preparation and training of deploy-able deep learning…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…

The impact of snowfall on 3D object detection performance remains underexplored. Conducting such an evaluation requires a dataset with sufficient labelled data from both weather conditions, ideally captured in the same driving environment.…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…

Understanding the surrounding environment is fundamental in autonomous driving and robotic perception. Distinguishing between known classes and previously unseen objects is crucial in real-world environments, as done in Anomaly…

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…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…