相关论文: LiDAR-BEVMTN: Real-Time LiDAR Bird's-Eye View Mult…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Real-time processing is crucial in autonomous driving systems due to the imperative of instantaneous decision-making and rapid response. In real-world scenarios, autonomous vehicles are continuously tasked with interpreting their…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

Convolutional Neural Networks (CNNs) are successfully used for the important automotive visual perception tasks including object recognition, motion and depth estimation, visual SLAM, etc. However, these tasks are typically independently…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

The capability for open vocabulary perception represents a significant advancement in autonomous driving systems, facilitating the comprehension and interpretation of a wide array of textual inputs in real-time. Despite extensive research…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Three-dimensional perception from multi-view cameras is a crucial component in autonomous driving systems, which involves multiple tasks like 3D object detection and bird's-eye-view (BEV) semantic segmentation. To improve perception…

Autonomous driving perceives its surroundings for decision making, which is one of the most complex scenarios in visual perception. The success of paradigm innovation in solving the 2D object detection task inspires us to seek an elegant,…

Stack interchanges are essential components of transportation systems. Mobile laser scanning (MLS) systems have been widely used in road infrastructure mapping, but accurate mapping of complicated multi-layer stack interchanges are still…

In the rapidly evolving field of autonomous driving, precise segmentation of LiDAR data is crucial for understanding complex 3D environments. Traditional approaches often rely on disparate, standalone codebases, hindering unified…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…