相关论文: Spherical Transformer for LiDAR-based 3D Recogniti…

Implicit neural networks have emerged as a crucial technology in 3D surface reconstruction. To reconstruct continuous surfaces from discrete point clouds, encoding the input points into regular grid features (plane or volume) has been…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…

Autonomous robotic systems and self driving cars rely on accurate perception of their surroundings as the safety of the passengers and pedestrians is the top priority. Semantic segmentation is one the essential components of environmental…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

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…

In recent years, with the development of computing resources and LiDAR, point cloud semantic segmentation has attracted many researchers. For the sparsity of point clouds, although there is already a way to deal with sparse convolution,…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

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…

Most previous 3D object detection methods that leverage the multi-modality of LiDAR and cameras utilize the Bird's Eye View (BEV) space for intermediate feature representation. However, this space uses a low x, y-resolution and sacrifices…

Learning from limited data is challenging because data scarcity leads to a poor generalization of the trained model. A classical global pooled representation will probably lose useful local information. Many few-shot learning methods have…

Recent years have seen an increase in the use of gigapixel-level image and video capture systems and benchmarks with high-resolution wide (HRW) shots. However, unlike close-up shots in the MS COCO dataset, the higher resolution and wider…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

LiDAR panoptic segmentation, which jointly performs instance and semantic segmentation for things and stuff classes, plays a fundamental role in LiDAR perception tasks. While most existing methods explicitly separate these two segmentation…

Transformers have demonstrated remarkable performance in natural language processing and computer vision. However, existing vision Transformers struggle to learn from limited medical data and are unable to generalize on diverse medical…

Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…