相关论文: Lidar Upsampling with Sliced Wasserstein Distance

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Point cloud upsampling focuses on generating a dense, uniform and proximity-to-surface point set. Most previous approaches accomplish these objectives by carefully designing a single-stage network, which makes it still challenging to…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Point cloud upsampling aims to generate dense and uniformly distributed point sets from a sparse point cloud, which plays a critical role in 3D computer vision. Previous methods typically split a sparse point cloud into several local…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

In self-driving applications, LiDAR data provides accurate information about distances in 3D but lacks the semantic richness of camera data. Therefore, state-of-the-art methods for perception in urban scenes fuse data from both sensor…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…

LiDAR point cloud analysis is a core task for 3D computer vision, especially for autonomous driving. However, due to the severe sparsity and noise interference in the single sweep LiDAR point cloud, the accurate semantic segmentation is…

Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher…

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…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…