相关论文: LAPTNet-FPN: Multi-scale LiDAR-aided Projective Tr…

This paper investigates the integration of graph neural networks (GNNs) with Qualitative Explainable Graphs (QXGs) for scene understanding in automated driving. Scene understanding is the basis for any further reactive or proactive…

As a rising task, panoptic segmentation is faced with challenges in both semantic segmentation and instance segmentation. However, in terms of speed and accuracy, existing LiDAR methods in the field are still limited. In this paper, we…

Autonomous driving requires understanding infrastructure elements, such as lanes and crosswalks. To navigate safely, this understanding must be derived from sensor data in real-time and needs to be represented in vectorized form. Learned…

Understanding and interacting with everyday physical scenes requires rich knowledge about the structure of the world, represented either implicitly in a value or policy function, or explicitly in a transition model. Here we introduce a new…

LiDAR segmentation has become a crucial component of advanced autonomous driving systems. Recent range-view LiDAR segmentation approaches show promise for real-time processing. However, they inevitably suffer from corrupted contextual…

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…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

LiDAR panoptic segmentation facilitates an autonomous vehicle to comprehensively understand the surrounding objects and scenes and is required to run in real time. The recent proposal-free methods accelerate the algorithm, but their…

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Controllable generation of realistic LiDAR scenes is crucial for applications such as autonomous driving and robotics. While recent diffusion-based models achieve high-fidelity LiDAR generation, they lack explicit control over foreground…

Autonomous driving requires the inference of actionable information such as detecting and classifying objects, and determining the drivable space. To this end, we present Multi-View LidarNet (MVLidarNet), a two-stage deep neural network for…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

Scene graphs have been proven to be useful for various scene understanding tasks due to their compact and explicit nature. However, existing approaches often neglect the importance of maintaining the symmetry-preserving property when…

Maps play a key role in rapidly developing area of autonomous driving. We survey the literature for different map representations and find that while the world is three-dimensional, it is common to rely on 2D map representations in order to…

Recently, there has been a growing interest in developing saliency methods that provide visual explanations of network predictions. Still, the usability of existing methods is limited to image classification models. To overcome this…

We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes…

As urban environments manifest high levels of complexity it is of vital importance that safety systems embedded within autonomous vehicles (AVs) are able to accurately anticipate short-term future motion of nearby agents. This problem can…

This work proposes a perception system for autonomous vehicles and advanced driver assistance specialized on unpaved roads and off-road environments. In this research, the authors have investigated the behavior of Deep Learning algorithms…