相关论文: Lidar Line Selection with Spatially-Aware Shapley …

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Most pipelines for Augmented and Virtual Reality estimate the ego-motion of the camera by creating a map of sparse 3D landmarks. In this paper, we tackle the problem of depth completion, that is, densifying this sparse 3D map using RGB…

Super-resolution of LiDAR range images is crucial to improving many downstream tasks such as object detection, recognition, and tracking. While deep learning has made a remarkable advances in super-resolution techniques, typical…

Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…

In a context of 3D mapping, it is very important to get accurate measurements from sensors. In particular, Light Detection And Ranging (LIDAR) measurements are typically treated as a zero-mean Gaussian distribution. We show that this…

Annotating the right set of data amongst all available data points is a key challenge in many machine learning applications. Batch active learning is a popular approach to address this, in which batches of unlabeled data points are selected…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

Measuring scattered light is central to many laser-based gas diagnostic techniques, e.g., coherent anti-Stokes Raman spectroscopy (CARS) and filtered Rayleigh scattering (FRS). To produce quantitative measurements with such techniques, a…

Photon counting lidar has become an invaluable tool for 3D depth imaging due to the fine-precision it can achieve over long ranges. However, high frame rate, high resolution lidar devices produce an enormous amount of time-of-flight (ToF)…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

The Shapley value, and its broader family of semi-values, has received much attention in various attribution problems. A fundamental and long-standing challenge is their efficient approximation, since exact computation generally requires an…

Light field (LF) depth estimation is a crucial task with numerous practical applications. However, mainstream methods based on the multi-view stereo (MVS) are resource-intensive and time-consuming as they need to construct a finer cost…

We present LINS, a lightweight lidar-inertial state estimator, for real-time ego-motion estimation. The proposed method enables robust and efficient navigation for ground vehicles in challenging environments, such as feature-less scenes,…

Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…

We propose POLAR, a novel radar-guided depth estimation method that introduces polynomial fitting to efficiently transform scaleless depth predictions from pretrained monocular depth estimation (MDE) models into metric depth maps. Unlike…

Complete depth information and efficient estimators have become vital ingredients in scene understanding for automated driving tasks. A major problem for LiDAR-based depth completion is the inefficient utilization of convolutions due to the…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

The paper presents an algorithm for depth map estimation from the light field images in relatively small amount of time, using only single thread on CPU. The proposed method improves existing principle of line fitting in 4-dimensional light…