相关论文: Rethinking Range View Representation for LiDAR Seg…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

Object detection is essential to safe autonomous or assisted driving. Previous works usually utilize RGB images or LiDAR point clouds to identify and localize multiple objects in self-driving. However, cameras tend to fail in bad driving…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

While generative world models have advanced video and occupancy-based data synthesis, LiDAR generation remains underexplored despite its importance for accurate 3D perception. Extending generation to 4D LiDAR data introduces challenges in…

Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles. However, most semantic datasets and algorithms used for LiDAR sequence segmentation operate on $360^\circ$ frames, causing an acquisition latency incompatible with…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…

Novel view synthesis is a long-standing problem. In this work, we consider a variant of the problem where we are given only a few context views sparsely covering a scene or an object. The goal is to predict novel viewpoints in the scene,…

Camera and LiDAR sensor modalities provide complementary appearance and geometric information useful for detecting 3D objects for autonomous vehicle applications. However, current end-to-end fusion methods are challenging to train and…

In this paper, an automatic labelling process is presented for automotive datasets, leveraging on complementary information from LiDAR and camera. The generated labels are then used as ground truth with the corresponding 4D radar data as…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

Accurate 3D object detection is a critical component of autonomous driving, enabling vehicles to perceive their surroundings with precision and make informed decisions. LiDAR sensors, widely used for their ability to provide detailed 3D…

Model scaling has demonstrated remarkable success through large-scale training on diverse datasets. It remains an open question whether the same paradigm would apply to autonomous driving perception systems due to unique challenges, such as…

LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

This paper presents a novel 3D object detection framework that processes LiDAR data directly on its native representation: range images. Benefiting from the compactness of range images, 2D convolutions can efficiently process dense LiDAR…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

LiDAR representation learning aims to extract rich structural and semantic information from large-scale, readily available datasets, reducing reliance on costly human annotations. However, existing LiDAR representation strategies often…