相关论文: Prior based Sampling for Adaptive LiDAR

Salient object detection has recently witnessed substantial progress due to powerful features extracted using deep convolutional neural networks (CNNs). However, existing CNN-based methods operate at the patch level instead of the pixel…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Depth prediction plays a key role in understanding a 3D scene. Several techniques have been developed throughout the years, among which Convolutional Neural Network has recently achieved state-of-the-art performance on estimating depth from…

Depth Completion can produce a dense depth map from a sparse input and provide a more complete 3D description of the environment. Despite great progress made in depth completion, the sparsity of the input and low density of the ground truth…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

Neural implicit representations have become a popular choice for modeling surfaces due to their adaptability in resolution and support for complex topology. While previous works have achieved impressive reconstruction quality by training on…

The recent ground-breaking advances in deep learning networks ( DNNs ) make them attractive for embedded systems. However, it can take a long time for DNNs to make an inference on resource-limited embedded devices. Offloading the…

Due to the current lack of large-scale datasets at the million-scale level, tasks involving panoramic images predominantly rely on existing two-dimensional pre-trained image benchmark models as backbone networks. However, these networks are…

Robust data association is necessary for virtually every SLAM system and finding corresponding points is typically a preprocessing step for scan alignment algorithms. Traditionally, handcrafted feature descriptors were used for these…

Dynamic DNN optimization techniques such as layer-skipping offer increased adaptability and efficiency gains but can lead to i) a larger memory footprint as in decision gates, ii) increased training complexity (e.g., with non-differentiable…

Predicting future 3D LiDAR pointclouds is a challenging task that is useful in many applications in autonomous driving such as trajectory prediction, pose forecasting and decision making. In this work, we propose a new LiDAR prediction…

We present 3DVNet, a novel multi-view stereo (MVS) depth-prediction method that combines the advantages of previous depth-based and volumetric MVS approaches. Our key idea is the use of a 3D scene-modeling network that iteratively updates a…

Automotive radar has increasingly attracted attention due to growing interest in autonomous driving technologies. Acquiring situational awareness using multimodal data collected at high sampling rates by various sensing devices including…

Longitudinal analysis has great potential to reveal developmental trajectories and monitor disease progression in medical imaging. This process relies on consistent and robust joint 4D segmentation. Traditional techniques are dependent on…

Recent advances in robotics are driving real-world autonomy for long-term and large-scale missions, where loop closures via place recognition are vital for mitigating pose estimation drift. However, achieving real-time performance remains…

In scanning microscopy based imaging techniques, there is a need to develop novel data acquisition schemes that can reduce the time for data acquisition and minimize sample exposure to the probing radiation. Sparse sampling schemes are…

Graph neural networks have gained prominence due to their excellent performance in many classification and prediction tasks. In particular, they are used for node classification and link prediction which have a wide range of applications in…

Depth completion aims at inferring a dense depth image from sparse depth measurement since glossy, transparent or distant surface cannot be scanned properly by the sensor. Most of existing methods directly interpolate the missing depth…

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…

Our long term goal is to use image-based depth completion to quickly create 3D models from sparse point clouds, e.g. from SfM or SLAM. Much progress has been made in depth completion. However, most current works assume well distributed…