相关论文: Optimal Transport for Change Detection on LiDAR Po…

Unsupervised domain adaptation is one of the challenging problems in computer vision. This paper presents a novel approach to unsupervised domain adaptations based on the optimal transport-based distance. Our approach allows aligning target…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

Weakly supervised point cloud semantic segmentation methods that require 1\% or fewer labels, hoping to realize almost the same performance as fully supervised approaches, which recently, have attracted extensive research attention. A…

In industrial automation, radar is a critical sensor in machine perception. However, the angular resolution of radar is inherently limited by the Rayleigh criterion, which depends on both the radar's operating wavelength and the effective…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

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…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

LiDAR and camera are two important sensors for 3D object detection in autonomous driving. Despite the increasing popularity of sensor fusion in this field, the robustness against inferior image conditions, e.g., bad illumination and sensor…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

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-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…

Climate change has led to an increased frequency of natural disasters such as floods and cyclones. This emphasizes the importance of effective disaster monitoring. In response, the remote sensing community has explored change detection…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

Large driving datasets are a key component in the current development and safeguarding of automated driving functions. Various methods can be used to collect such driving data records. In addition to the use of sensor equipped research…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…