相关论文: Instant Domain Augmentation for LiDAR Semantic Seg…

We introduce a simple yet effective fusion method of LiDAR and RGB data to segment LiDAR point clouds. Utilizing the dense native range representation of a LiDAR sensor and the setup calibration, we establish point correspondences between…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

This paper presents a Simple and effective unsupervised adaptation method for Robust Object Detection (SimROD). To overcome the challenging issues of domain shift and pseudo-label noise, our method integrates a novel domain-centric…

Nighttime environments pose significant challenges for camera-based perception, as existing methods passively rely on the scene lighting. We introduce Lighting-driven Dynamic Active Sensing (LiDAS), a closed-loop active illumination system…

Recently, LiDAR segmentation methods for autonomous vehicles, powered by deep neural networks, have experienced steep growth in performance on classic benchmarks, such as nuScenes and SemanticKITTI. However, there are still large gaps in…

Semantic segmentation networks, which are essential for robotic perception, often suffer from performance degradation when the visual distribution of the deployment environment differs from that of the source dataset on which they were…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Performance on benchmark datasets has drastically improved with advances in deep learning. Still, cross-dataset generalization performance remains relatively low due to the domain shift that can occur between two different datasets. This…

This paper presents a classification framework based on learnable data augmentation to tackle the One-Shot Unsupervised Domain Adaptation (OS-UDA) problem. OS-UDA is the most challenging setting in Domain Adaptation, as only one single…

Temporal semantic scene understanding is critical for self-driving cars or robots operating in dynamic environments. In this paper, we propose 4D panoptic LiDAR segmentation to assign a semantic class and a temporally-consistent instance ID…

Light detection and ranging (LiDAR) has been widely used in autonomous driving and large-scale manufacturing. Although state-of-the-art scanning LiDAR can perform long-range three-dimensional imaging, the frame rate is limited by both…

LiDAR (Light Detection And Ranging) is an essential and widely adopted sensor for autonomous vehicles, particularly for those vehicles operating at higher levels (L4-L5) of autonomy. Recent work has demonstrated the promise of deep-learning…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Although data is abundant, data labeling is expensive. Semi-supervised learning methods combine a few labeled samples with a large corpus of unlabeled data to effectively train models. This paper introduces our proposed method LiDAM, a…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

LiDARs are widely used for 3D depth reconstruction, but their performance is often limited by inherent hardware constraints that impose trade-offs between range, spatial resolution, and frame rate. Many LiDAR systems typically operate at…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…