相关论文: LMD: Light-weight Prediction Quality Estimation fo…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

Monocular image-based 3D perception has become an active research area in recent years owing to its applications in autonomous driving. Approaches to monocular 3D perception including detection and tracking, however, often yield inferior…

Autonomous systems rely on accurate 3D object detection from LiDAR data, yet most detectors are limited to a predefined set of known classes, making them vulnerable to unexpected out-of-distribution (OOD) objects. In this work, we present…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

Virtual Diagnostic (VD) is a deep learning tool that can be used to predict a diagnostic output. VDs are especially useful in systems where measuring the output is invasive, limited, costly or runs the risk of damaging the output. Given a…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Object type classification for automotive radar has greatly improved with recent deep learning (DL) solutions, however these developments have mostly focused on the classification accuracy. Before employing DL solutions in safety-critical…

Current state-of-the-art (SOTA) 3D object detection methods often require a large amount of 3D bounding box annotations for training. However, collecting such large-scale densely-supervised datasets is notoriously costly. To reduce the…

3D object detection is an essential part of automated driving, and deep neural networks (DNNs) have achieved state-of-the-art performance for this task. However, deep models are notorious for assigning high confidence scores to…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Complementary to prevalent LiDAR and camera systems, millimeter-wave (mmWave) radar is robust to adverse weather conditions like fog, rainstorms, and blizzards but offers sparse point clouds. Current techniques enhance the point cloud by…

The past few years have witnessed an increasing interest in improving the perception performance of LiDARs on autonomous vehicles. While most of the existing works focus on developing new deep learning algorithms or model architectures, we…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Real-time video analytics on the edge is challenging as the computationally constrained resources typically cannot analyse video streams at full fidelity and frame rate, which results in loss of accuracy. This paper proposes a Transprecise…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Despite significant progress in semi-supervised learning for image object detection, several key issues are yet to be addressed for video object detection: (1) Achieving good performance for supervised video object detection greatly depends…

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…