相关论文: Depth- and Semantics-aware Multi-modal Domain Tran…

In this work, we present a simple yet effective framework to address the domain translation problem between different sensor modalities with unique data formats. By relying only on the semantics of the scene, our modular generative…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

Until open-world foundation models match the performance of specialized approaches, deep learning systems remain dependent on task- and sensor-specific data availability. To bridge the gap between available datasets and deployment domains,…

Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…

Lidar point cloud synthesis based on generative models offers a promising solution to augment deep learning pipelines, particularly when real-world data is scarce or lacks diversity. By enabling flexible object manipulation, this synthesis…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for disaster examination. Here, we propose a UAV system for…

Domain shift is a very challenging problem for semantic segmentation. Any model can be easily trained on synthetic data, where images and labels are artificially generated, but it will perform poorly when deployed on real environments. In…

In this paper we address the challenging problem of domain adaptation in LiDAR semantic segmentation. We consider the setting where we have a fully-labeled data set from source domain and a target domain with a few labeled and many…

Image-to-image translation aims to learn a mapping between a source and a target domain, enabling tasks such as style transfer, appearance transformation, and domain adaptation. In this work, we explore a diffusion-based framework for…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Current state-of-the-art point cloud-based perception methods usually rely on large-scale labeled data, which requires expensive manual annotations. A natural option is to explore the unsupervised methodology for 3D perception tasks.…

Cross-modal knowledge transfer enhances point cloud representation learning in LiDAR semantic segmentation. Despite its potential, the \textit{weak teacher challenge} arises due to repetitive and non-diverse car camera images and sparse,…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

We present the first approach for 3D point-cloud to image translation based on conditional Generative Adversarial Networks (cGAN). The model handles multi-modal information sources from different domains, i.e. raw point-sets and images. The…

In this paper, we have developed a general-purpose architecture, Vit-Gan, capable of performing most of the image-to-image translation tasks from semantic image segmentation to single image depth perception. This paper is a follow-up paper,…

Semantic grids are a useful representation of the environment around a robot. They can be used in autonomous vehicles to concisely represent the scene around the car, capturing vital information for downstream tasks like navigation or…