相关论文: Real-Aug: Realistic Scene Synthesis for LiDAR Augm…

In the technical report, we present a novel transformer-based framework for nuScenes lidar-based object detection task, termed Spatial Expansion Group Transformer (SEGT). To efficiently handle the irregular and sparse nature of point cloud,…

3D Gaussian Splatting SLAM has emerged as a widely used technique for high-fidelity mapping in spatial intelligence. However, existing methods often rely on a single representation scheme, which limits their performance in large-scale…

Histopathological analysis is the present gold standard for precancerous lesion diagnosis. The goal of automated histopathological classification from digital images requires supervised training, which requires a large number of expert…

Training a policy that can generalize to unknown objects is a long standing challenge within the field of robotics. The performance of a policy often drops significantly in situations where an object in the scene was not seen during…

Simultaneous localization and mapping (SLAM) systems with novel view synthesis capabilities are widely used in computer vision, with applications in augmented reality, robotics, and autonomous driving. However, existing approaches are…

We present Neural Fields for LiDAR (NFL), a method to optimise a neural field scene representation from LiDAR measurements, with the goal of synthesizing realistic LiDAR scans from novel viewpoints. NFL combines the rendering power of…

Human-centric 3D scene understanding has recently drawn increasing attention, driven by its critical impact on robotics. However, human-centric real-life scenarios are extremely diverse and complicated, and humans have intricate motions and…

This paper investigates the impact of various data augmentation techniques on the performance of object detection models. Specifically, we explore classical augmentation methods, image compositing, and advanced generative models such as…

Evaluation of AI systems often requires synthetic test cases, particularly for rare or safety-critical conditions that are difficult to observe in operational data. Generative AI offers a promising approach for producing such data through…

With the development of Deep Neural Networks (DNNs), plenty of methods based on DNNs have been proposed for Single Image Super-Resolution (SISR). However, existing methods mostly train the DNNs on uniformly sampled LR-HR patch pairs, which…

Recently deep learning methods, in particular, convolutional neural networks (CNNs), have led to a massive breakthrough in the range of computer vision. Also, the large-scale annotated dataset is the essential key to a successful training…

Labeling LiDAR point clouds for training autonomous driving is extremely expensive and difficult. LiDAR simulation aims at generating realistic LiDAR data with labels for training and verifying self-driving algorithms more efficiently.…

This paper introduces LiGSM, a novel LiDAR-enhanced 3D Gaussian Splatting (3DGS) mapping framework that improves the accuracy and robustness of 3D scene mapping by integrating LiDAR data. LiGSM constructs joint loss from images and LiDAR…

Nowadays, an increasing number of works fuse LiDAR and RGB data in the bird's-eye view (BEV) space for 3D object detection in autonomous driving systems. However, existing methods suffer from over-reliance on the LiDAR branch, with…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time, photorealistic scene reconstruction. However, conventional 3DGS frameworks typically rely on sparse point clouds derived from Structure-from-Motion (SfM), which…

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…

LiDAR-based 3D object detection presents significant challenges due to the inherent sparsity of LiDAR points. A common solution involves long-term temporal LiDAR data to densify the inputs. However, efficiently leveraging spatial-temporal…

Deep vision models are now mature enough to be integrated in industrial and possibly critical applications such as autonomous navigation. Yet, data collection and labeling to train such models requires too much efforts and costs for a…

Synthetic data is being used lately for training deep neural networks in computer vision applications such as object detection, object segmentation and 6D object pose estimation. Domain randomization hereby plays an important role in…

Camouflaged objects that blend into natural scenes pose significant challenges for deep-learning models to detect and synthesize. While camouflaged object detection is a crucial task in computer vision with diverse real-world applications,…