相关论文: Visual Point Cloud Forecasting enables Scalable Au…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Accurate detection of objects in 3D point clouds is a central problem in many applications, such as autonomous navigation, housekeeping robots, and augmented/virtual reality. To interface a highly sparse LiDAR point cloud with a region…

End-to-end autonomous driving (E2E-AD) has emerged as a promising paradigm that unifies perception, prediction, and planning into a holistic, data-driven framework. However, achieving robustness to varying camera viewpoints, a common…

In this paper, we deal with the problem to predict the future 3D motions of 3D object scans from previous two consecutive frames. Previous methods mostly focus on sparse motion prediction in the form of skeletons. While in this paper we…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

At the current stage, deep learning-based methods have demonstrated excellent capabilities in evaluating aerodynamic performance, significantly reducing the time and cost required for traditional computational fluid dynamics (CFD)…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

4D radars, which provide 3D point cloud data along with Doppler velocity, are attractive components of modern automated driving systems due to their low cost and robustness under adverse weather conditions. However, they provide a…

With the rise of large-scale models trained on broad data, in-context learning has become a new learning paradigm that has demonstrated significant potential in natural language processing and computer vision tasks. Meanwhile, in-context…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Autonomous driving presents many challenges due to the large number of scenarios the autonomous vehicle (AV) may encounter. End-to-end deep learning models are comparatively simplistic models that can handle a broad set of scenarios.…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

Unsupervised contrastive learning for indoor-scene point clouds has achieved great successes. However, unsupervised learning point clouds in outdoor scenes remains challenging because previous methods need to reconstruct the whole scene and…

Vision transformers (ViTs) have recently been widely applied to 3D point cloud understanding, with masked autoencoding as the predominant pre-training paradigm. However, the challenge of learning dense and informative semantic features from…

Visual segmentation seeks to partition images, video frames, or point clouds into multiple segments or groups. This technique has numerous real-world applications, such as autonomous driving, image editing, robot sensing, and medical…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

Advanced sensors are a key to enable self-driving cars technology. Laser scanner sensors (LiDAR, Light Detection And Ranging) became a fundamental choice due to its long-range and robustness to low light driving conditions. The problem of…

Self-supervised pre-training for 3D vision has drawn increasing research interest in recent years. In order to learn informative representations, a lot of previous works exploit invariances of 3D features, e.g., perspective-invariance…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…