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

Vision-based depth estimation is a key feature in autonomous systems, which often relies on a single camera or several independent ones. In such a monocular setup, dense depth is obtained with either additional input from one or several…

We present a novel method for accurate and efficient up- sampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through…

Accurate and dense depth estimation with stereo cameras and LiDAR is an important task for automatic driving and robotic perception. While sparse hints from LiDAR points have improved cost aggregation in stereo matching, their effectiveness…

Sampling discrepancies between different manufacturers and models of lidar sensors result in inconsistent representations of objects. This leads to performance degradation when 3D detectors trained for one lidar are tested on other types of…

Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…

We introduce Locally Linear Embedding (LLE) to the astronomical community as a new classification technique, using SDSS spectra as an example data set. LLE is a nonlinear dimensionality reduction technique which has been studied in the…

Recently, privacy has a growing importance in several domains, especially in street-view images. The conventional way to achieve this is to automatically detect and blur sensitive information from these images. However, the processing cost…

High resolution depth-maps, obtained by upsampling sparse range data from a 3D-LIDAR, find applications in many fields ranging from sensory perception to semantic segmentation and object detection. Upsampling is often based on combining…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

Leveraging recent diffusion models, LiDAR-based large-scale 3D scene generation has achieved great success. While recent voxel-based approaches can generate both geometric structures and semantic labels, existing range-view methods are…

We present a real-time, non-learning depth estimation method that fuses Light Detection and Ranging (LiDAR) data with stereo camera input. Our approach comprises three key techniques: Semi-Global Matching (SGM) stereo with Discrete…

The main function of depth completion is to compensate for an insufficient and unpredictable number of sparse depth measurements of hardware sensors. However, existing research on depth completion assumes that the sparsity -- the number of…

Many modern robotics systems employ LiDAR as their main sensing modality due to its geometrical richness. Rolling shutter LiDARs are particularly common, in which an array of lasers scans the scene from a rotating base. Points are emitted…

Compared to feature point detection and description, detecting and matching line segments offer additional challenges. Yet, line features represent a promising complement to points for multi-view tasks. Lines are indeed well-defined by the…

We present a proof-of-concept LIDAR design that allows adaptive real-time measurements according to dynamically specified measurement patterns. We describe our optical setup and calibration, which enables fast sparse depth measurements…

This paper addresses the limitations of existing 3D Gaussian Splatting (3DGS) methods, particularly their reliance on adaptive density control, which can lead to floating artifacts and inefficient resource usage. We propose a novel densify…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Line detection is widely used in many robotic tasks such as scene recognition, 3D reconstruction, and simultaneous localization and mapping (SLAM). Compared to points, lines can provide both low-level and high-level geometrical information…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

We present an efficient subpixel refinement method usinga learning-based approach called Linear Predictors. Two key ideas are shown in this paper. Firstly, we present a novel technique, called Symbolic Linear Predictors, which makes the…