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

In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM. Most existing radiance-field-based SLAM systems mainly focus on bounded indoor environments, equipped…

Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a…

This paper presents a novel CNN-based approach for synthesizing high-resolution LiDAR point cloud data. Our approach generates semantically and perceptually realistic results with guidance from specialized loss-functions. First, we utilize…

Generalising vision-based manipulation policies to novel environments remains a challenging area with limited exploration. Current practices involve collecting data in one location, training imitation learning or reinforcement learning…

Learning-based methods for 3D scene reconstruction and object completion require large datasets containing partial scans paired with complete ground-truth geometry. However, acquiring such datasets using real-world scanning systems is…

Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…

LiDAR novel view synthesis (NVS) has emerged as a novel task within LiDAR simulation, offering valuable simulated point cloud data from novel viewpoints to aid in autonomous driving systems. However, existing LiDAR NVS methods typically…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…

Enhancing the generalization capability of robotic learning to enable robots to operate effectively in diverse, unseen scenes is a fundamental and challenging problem. Existing approaches often depend on pretraining with large-scale data…

The success of deep learning in computer vision is based on availability of large annotated datasets. To lower the need for hand labeled images, virtually rendered 3D worlds have recently gained popularity. Creating realistic 3D content is…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

Recent work has shown that data augmentation has the potential to significantly improve the generalization of deep learning models. Recently, automated augmentation strategies have led to state-of-the-art results in image classification and…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…

The unsupervised 3D object detection is to accurately detect objects in unstructured environments with no explicit supervisory signals. This task, given sparse LiDAR point clouds, often results in compromised performance for detecting…

We propose a method that augments a simulated dataset using diffusion models to improve the performance of pedestrian detection in real-world data. The high cost of collecting and annotating data in the real-world has motivated the use of…

Anomaly detection plays a vital role in industrial manufacturing. Due to the scarcity of real defect images, unsupervised approaches that rely solely on normal images have been extensively studied. Recently, diffusion-based generative…

Annotated datasets are critical for training neural networks for object detection, yet their manual creation is time- and labour-intensive, subjective to human error, and often limited in diversity. This challenge is particularly pronounced…

Despite recent advances in both model architectures and data augmentation, multimodal object detectors still barely outperform their LiDAR-only counterparts. This shortcoming has been attributed to a lack of sufficiently powerful multimodal…

This paper presents LiFT, a lightweight, fully quantized 3D object detection algorithm for LiDAR data, optimized for real-time inference on FPGA platforms. Through an in-depth analysis of FPGA-specific limitations, we identify a set of…

With the increase of computing power, machine learning models in medical imaging have been introduced to help in rending medical diagnosis and inspection, like hemophilia, a rare disorder in which blood cannot clot normally. Often, one of…