相关论文: GAN-Based LiDAR Intensity Simulation

Recent research has begun exploring novel view synthesis (NVS) for LiDAR point clouds, aiming to generate realistic LiDAR scans from unseen viewpoints. However, most existing approaches do not reconstruct semantic labels, which are crucial…

Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

Imaging system design is a complex, time-consuming, and largely manual process; LiDAR design, ubiquitous in mobile devices, autonomous vehicles, and aerial imaging platforms, adds further complexity through unique spatial and temporal…

Autonomous mobility systems increasingly operate in dense and dynamic environments where perception occlusions, limited sensing coverage, and multi-agent interactions pose major challenges. While onboard sensors provide essential local…

In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior…

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…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

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…

The current autonomous driving architecture places a heavy burden in signal processing for the graphics processing units (GPUs) in the car. This directly translates into battery drain and lower energy efficiency, crucial factors in electric…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

This paper describes a verification case study on an autonomous racing car with a neural network (NN) controller. Although several verification approaches have been proposed over the last year, they have only been evaluated on…

This paper targets the challenge of real-time LiDAR re-simulation in dynamic driving scenarios. Recent approaches utilize neural radiance fields combined with the physical modeling of LiDAR sensors to achieve high-fidelity re-simulation…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

This paper addresses the problem of data-driven modeling and verification of perception-based autonomous systems. We assume the perception model can be decomposed into a canonical model (obtained from first principles or a simulator) and a…

The use of cameras for vehicle speed measurement is much more cost effective compared to other technologies such as inductive loops, radar or laser. However, accurate speed measurement remains a challenge due to the inherent limitations of…

For developing safe Autonomous Driving Systems (ADS), rigorous testing is required before they are deemed safe for road deployments. Since comprehensive conventional physical testing is impractical due to cost and safety concerns, Virtual…