相关论文: Analysis of LiDAR Configurations on Off-road Seman…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Existing learning methods for LiDAR-based applications use 3D points scanned under a pre-determined beam configuration, e.g., the elevation angles of beams are often evenly distributed. Those fixed configurations are task-agnostic, so…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Photorealistic simulation plays a crucial role in applications such as autonomous driving, where advances in neural radiance fields (NeRFs) may allow better scalability through the automatic creation of digital 3D assets. However,…

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…

A unified and versatile LiDAR segmentation model with strong robustness and generalizability is desirable for safe autonomous driving perception. This work presents M3Net, a one-of-a-kind framework for fulfilling multi-task, multi-dataset,…

This work aims to present a three-dimensional vehicle dynamics state estimation under varying signal quality. Few researchers have investigated the impact of three-dimensional road geometries on the state estimation and, thus, neglect road…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…

Recently, Large Language Models (LLMs) and Multimodal Large Language Models (MLLMs) have shown promise in instruction following and 2D image understanding. While these models are powerful, they have not yet been developed to comprehend the…

Existing LiDAR semantic segmentation methods often struggle with performance declines in adverse weather conditions. Previous work has addressed this issue by simulating adverse weather or employing universal data augmentation during…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…