相关论文: NeRF-LiDAR: Generating Realistic LiDAR Point Cloud…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

We examined the feasibility of generative adversarial networks (GANs) to generate photo-realistic images from LiDAR point clouds. For this purpose, we created a dataset of point cloud image pairs and trained the GAN to predict…

Simulation models for perception sensors are integral components of automotive simulators used for the virtual Verification and Validation (V\&V) of Autonomous Driving Systems (ADS). These models also serve as powerful tools for generating…

Research on localization and perception for Autonomous Driving is mainly focused on camera and LiDAR datasets, rarely on radar data. Manually labeling sparse radar point clouds is challenging. For a dataset generation, we propose the cross…

Neural Radiance Fields (NeRFs) aim to synthesize novel views of objects and scenes, given the object-centric camera views with large overlaps. However, we conjugate that this paradigm does not fit the nature of the street views that are…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

Neural Radiance Field (NeRF) models are implicit neural scene representation methods that offer unprecedented capabilities in novel view synthesis. Semantically-aware NeRFs not only capture the shape and radiance of a scene, but also encode…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

Deep-learning-based autonomous driving (AD) perception introduces a promising picture for safe and environment-friendly transportation. However, the over-reliance on real labeled data in LiDAR perception limits the scale of on-road…

The railway industry is searching for new ways to automate a number of complex train functions, such as object detection, track discrimination, and accurate train positioning, which require the artificial perception of the railway…

We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Neural Radiance Fields (NeRFs) have emerged as a powerful neural 3D representation for objects and scenes derived from 2D data. Generating NeRFs, however, remains difficult in many scenarios. For instance, training a NeRF with only a small…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

In this work, we consider the problem of learning end to end perception to control for ground vehicles solely from aerial imagery. Photogrammetric simulators allow the synthesis of novel views through the transformation of pre-generated…

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an…

Sensor fusion has become a popular topic in robotics. However, conventional fusion methods encounter many difficulties, such as data representation differences, sensor variations, and extrinsic calibration. For example, the calibration…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…