相关论文: MaskedFusion360: Reconstruct LiDAR Data by Queryin…

Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…

Robust semantic perception for autonomous vehicles relies on effectively combining multiple sensors with complementary strengths and weaknesses. State-of-the-art sensor fusion approaches to semantic perception often treat sensor data…

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…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

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…

This paper proposes an approach to learn generic multi-modal mesh surface representations using a novel scheme for fusing texture and geometric data. Our approach defines an inverse mapping between different geometric descriptors computed…

3D reconstruction for Digital Twins often relies on LiDAR-based methods, which provide accurate geometry but lack the semantics and textures naturally captured by cameras. Traditional LiDAR-camera fusion approaches require complex…

LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

Self-supervised monocular depth prediction provides a cost-effective solution to obtain the 3D location of each pixel. However, the existing approaches usually lead to unsatisfactory accuracy, which is critical for autonomous robots. In…

Depth-guided multimodal fusion combines depth information from visible and infrared images, significantly enhancing the performance of 3D reconstruction and robotics applications. Existing thermal-visible image fusion mainly focuses on…

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…

Reliable terrain perception is a critical prerequisite for the deployment of humanoid robots in unstructured, human-centric environments. While traditional systems often rely on manually engineered, single-sensor pipelines, this paper…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

Road segmentation is a critical task for autonomous driving systems, requiring accurate and robust methods to classify road surfaces from various environmental data. Our work introduces an innovative approach that integrates LiDAR point…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…

LiDAR data pretraining offers a promising approach to leveraging large-scale, readily available datasets for enhanced data utilization. However, existing methods predominantly focus on sparse voxel representation, overlooking the…