相关论文: Lidar Upsampling with Sliced Wasserstein Distance

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Precise localization is critical for autonomous vehicles. We present a self-supervised learning method that employs Transformers for the first time for the task of outdoor localization using LiDAR data. We propose a pre-text task that…

Large-scale multi-session LiDAR mapping is crucial for various applications but still faces significant challenges in data redundancy, memory consumption, and efficiency. This paper presents MS-Mapping, a novel multi-session LiDAR mapping…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

3D scene understanding is a critical yet challenging task in autonomous driving due to the irregularity and sparsity of LiDAR data, as well as the computational demands of processing large-scale point clouds. Recent methods leverage…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

Autonomous driving datasets are often skewed and in particular, lack training data for objects at farther distances from the ego vehicle. The imbalance of data causes a performance degradation as the distance of the detected objects…

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…

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…

Self-supervised learning (SSL) has emerged as a powerful strategy for representation learning under limited annotation regimes, yet its effectiveness remains highly sensitive to many factors, especially the nature of the target task. In…

Many variants of the Wasserstein distance have been introduced to reduce its original computational burden. In particular the Sliced-Wasserstein distance (SW), which leverages one-dimensional projections for which a closed-form solution of…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

Single-Photon Light Detection and Ranging (SP-LiDAR is emerging as a leading technology for long-range, high-precision 3D vision tasks. In SP-LiDAR, timestamps encode two complementary pieces of information: pulse travel time (depth) and…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Self-supervised learning is one of the most promising approaches to acquiring knowledge from limited labeled data. Despite the substantial advancements made in recent years, self-supervised models have posed a challenge to practitioners, as…

3D object detection from LiDAR point cloud is of critical importance for autonomous driving and robotics. While sequential point cloud has the potential to enhance 3D perception through temporal information, utilizing these temporal…

Semantic scene understanding, including the perception and classification of moving agents, is essential to enabling safe and robust driving behaviours of autonomous vehicles. Cameras and LiDARs are commonly used for semantic scene…

The Segmented Planar Imaging Detector for Electro-Optical Reconnaissance (SPIDER) is an optical interferometric imaging device that aims to offer an alternative to the large space telescope designs of today with reduced size, weight and…