相关论文: R-C-P Method: An Autonomous Volume Calculation Met…

In autonomous vehicles or robots, point clouds from LiDAR can provide accurate depth information of objects compared with 2D images, but they also suffer a large volume of data, which is inconvenient for data storage or transmission. In…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

Depth sensing is a critical component of autonomous driving technologies, but today's LiDAR- or stereo camera-based solutions have limited range. We seek to increase the maximum range of self-driving vehicles' depth perception modules for…

The Rational Polynomial Camera (RPC) model can be used to describe a variety of image acquisition systems in remote sensing, notably optical and Synthetic Aperture Radar (SAR) sensors. RPC functions relate 3D to 2D coordinates and vice…

3D sensors, also known as RGB-D sensors, utilize depth images where each pixel measures the distance from the camera to objects, using principles like structured light or time-of-flight. Advances in artificial vision have led to affordable…

The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…

Depth cameras, typically in RGB-D configurations, are common devices in mobile robotic platforms given their appealing features: high frequency and resolution, low price and power requirements, among others. These sensors may come with…

To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…

In this paper, we propose a novel online self-calibration approach for Light Detection and Ranging (LiDAR) and camera sensors. Compared to the previous CNN-based methods that concatenate the feature maps of the RGB image and decalibrated…

In this paper we present a novel radar-camera sensor fusion framework for accurate object detection and distance estimation in autonomous driving scenarios. The proposed architecture uses a middle-fusion approach to fuse the radar point…

We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically…

Manufacturing requires reliable object detection methods for precise picking and handling of diverse types of manufacturing parts and components. Traditional object detection methods utilize either only 2D images from cameras or 3D data…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

We present an approach to automatically generate semantic labels for real recordings of automotive range-Doppler (RD) radar spectra. Such labels are required when training a neural network for object recognition from radar data. The…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…

Combining LiDAR and Camera-view data has become a common approach for 3D Object Detection. However, previous approaches combine the two input streams at a point-level, throwing away semantic information derived from camera features. In this…

Swept volume computation, the determination of regions occupied by moving objects, is essential in graphics, robotics, and manufacturing. Existing approaches either explicitly track surfaces, suffering from robustness issues under complex…

The large amount of data collected by LiDAR sensors brings the issue of LiDAR point cloud compression (PCC). Previous works on LiDAR PCC have used range image representations and followed the predictive coding paradigm to create a basic…