相关论文: GeoLCR: Attention-based Geometric Loop Closure and…

As an important technology in 3D mapping, autonomous driving, and robot navigation, LiDAR odometry is still a challenging task. Appropriate data structure and unsupervised deep learning are the keys to achieve an easy adjusted LiDAR…

In this paper we deal with the problem of odometry and localization for Lidar-equipped vehicles driving in urban environments, where a premade target map exists to localize against. In our problem formulation, to correct the accumulated…

In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and…

The task object tracking is vital in numerous applications such as autonomous driving, intelligent surveillance, robotics, etc. This task entails the assigning of a bounding box to an object in a video stream, given only the bounding box…

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…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

For the SLAM system in robotics and autonomous driving, the accuracy of front-end odometry and back-end loop-closure detection determine the whole intelligent system performance. But the LiDAR-SLAM could be disturbed by current scene moving…

Localization is paramount for autonomous robots. While camera and LiDAR-based approaches have been extensively investigated, they are affected by adverse illumination and weather conditions. Therefore, radar sensors have recently gained…

The purpose of this work is to review the state-of-the-art LiDAR-based 3D object detection methods, datasets, and challenges. We describe novel data augmentation methods, sampling strategies, activation functions, attention mechanisms, and…

This paper presents an efficient and layout-independent Automatic License Plate Recognition (ALPR) system based on the state-of-the-art YOLO object detector that contains a unified approach for license plate (LP) detection and layout…

Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection…

This paper proposes a Graph Neural Network(GNN)-based method for exploiting semantics and local geometry to guide the identification of reliable pointcloud registration candidates. Semantic and morphological features of the environment…

Occlusion presents a significant challenge for safety-critical applications such as autonomous driving. Collaborative perception has recently attracted a large research interest thanks to the ability to enhance the perception of autonomous…

Real-time perception and motion planning are two crucial tasks for autonomous driving. While there are many research works focused on improving the performance of perception and motion planning individually, it is still not clear how a…

Loop closure is crucial for maintaining the accuracy and consistency of visual SLAM. We propose a method to improve loop closure performance in DPV-SLAM. Our approach integrates AnyLoc, a learning-based visual place recognition technique,…

While 3D object detection in LiDAR point clouds is well-established in academia and industry, the explainability of these models is a largely unexplored field. In this paper, we propose a method to generate attribution maps for the detected…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

LiDAR-based 3D object detection has recently seen significant advancements through active learning (AL), attaining satisfactory performance by training on a small fraction of strategically selected point clouds. However, in real-world…

Autonomous vehicles (AVs) require reliable traffic sign recognition and robust lane detection capabilities to ensure safe navigation in complex and dynamic environments. This paper introduces an integrated approach combining advanced deep…