相关论文: ROSS: Radar Off-road Semantic Segmentation

There is a growing academic interest as well as commercial exploitation of millimetre-wave scanning radar for autonomous vehicle localisation and scene understanding. Although several datasets to support this research area have been…

Existing aerial robot navigation systems typically plan paths around static and dynamic obstacles, but fail to adapt when a static obstacle suddenly moves. Integrating environmental semantic awareness enables estimation of potential risks…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…

One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

Automated vehicles rely on an accurate and robust perception of the environment. Similarly to automated cars, highly automated trains require an environmental perception. Although there is a lot of research based on either camera or LiDAR…

We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Road damage can create safety and comfort challenges for both human drivers and autonomous vehicles (AVs). This damage is particularly prevalent in rural areas due to less frequent surveying and maintenance of roads. Automated detection of…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

Radar has long been a common sensor on autonomous vehicles for obstacle ranging and speed estimation. However, as a robust sensor to all-weather conditions, radar's capability has not been well-exploited, compared with camera or LiDAR.…

Semantic segmentation is a key technique that enables mobile robots to understand and navigate surrounding environments autonomously. However, most existing works focus on segmenting known objects, overlooking the identification of unknown…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Detecting traversable pathways in unstructured outdoor environments remains a significant challenge for autonomous robots, especially in critical applications such as wide-area search and rescue, as well as incident management scenarios…

In autonomous driving, 3D LiDAR plays a crucial role in understanding the vehicle's surroundings. However, the newly emerged, unannotated objects presents few-shot learning problem for semantic segmentation. This paper addresses the…

Semantic segmentation on LiDAR imaging is increasingly gaining attention, as it can provide useful knowledge for perception systems and potential for autonomous driving. However, collecting and labeling real LiDAR data is an expensive and…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…