相关论文: Looking Around Corners: Generative Methods in Terr…

Generating a 3D point cloud from a single 2D image is of great importance for 3D scene understanding applications. To reconstruct the whole 3D shape of the object shown in the image, the existing deep learning based approaches use either…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

In this paper, we tackle the challenge of predicting the unseen walls of a partially observed environment as a set of 2D line segments, conditioned on occupancy grids integrated along the trajectory of a 360{\deg} LIDAR sensor. A dataset of…

Since the generative neural networks have made a breakthrough in the image generation problem, lots of researches on their applications have been studied such as image restoration, style transfer and image completion. However, there has…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

Unsupervised point cloud completion aims to infer the whole geometry of a partial object observation without requiring partial-complete correspondence. Differing from existing deterministic approaches, we advocate generative modeling based…

Controllable generation is considered a potentially vital approach to address the challenge of annotating 3D data, and the precision of such controllable generation becomes particularly imperative in the context of data production for…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Recent work has shown the ability to learn generative models for 3D shapes from only unstructured 2D images. However, training such models requires differentiating through the rasterization step of the rendering process, therefore past work…

Trajectory prediction plays a vital role in automotive radar systems, facilitating precise tracking and decision-making in autonomous driving. Generative adversarial networks with the ability to learn a distribution over future trajectories…

Manifold learning aims to discover and represent low-dimensional structures underlying high-dimensional data while preserving critical topological and geometric properties. Existing methods often fail to capture local details with global…

Cross-domain generative models based on encoder-decoder AI architectures have attracted much attention in generating realistic images, where domain alignment is crucial for generation accuracy. Domain alignment methods usually deal directly…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

LiDAR scanning in outdoor scenes acquires accurate distance measurements over wide areas, producing large-scale point clouds. Application examples for this data include robotics, automotive vehicles, and land surveillance. During such…

We analyze transformers from the perspective of iterative inference, seeking to understand how model predictions are refined layer by layer. To do so, we train an affine probe for each block in a frozen pretrained model, making it possible…

We consider the approximation of functions by 2-layer neural networks with a small number of hidden weights based on the squared loss and small datasets. Due to the highly non-convex energy landscape, gradient-based training often suffers…

Sparse LiDAR point clouds cause severe loss of detail of static structures and reduce the density of static points available for navigation. Reduced density can be detrimental to navigation under several scenarios. We observe that despite…

A common assumption in generative models is that the generator immerses the latent space into a Euclidean ambient space. Instead, we consider the ambient space to be a Riemannian manifold, which allows for encoding domain knowledge through…