相关论文: LiDAR-Forest Dataset: LiDAR Point Cloud Simulation…

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…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

A considerable amount of research is concerned with the generation of realistic sensor data. LiDAR point clouds are generated by complex simulations or learned generative models. The generated data is usually exploited to enable or improve…

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

3D laser scanning by LiDAR sensors plays an important role for mobile robots to understand their surroundings. Nevertheless, not all systems have high resolution and accuracy due to hardware limitations, weather conditions, and so on.…

We propose a new deep learning-based method for estimating the occupancy of vegetation strata from 3D point clouds captured from an aerial platform. Our model predicts rasterized occupancy maps for three vegetation strata: lower, medium,…

The generation of LiDAR scans is a growing topic with diverse applications to autonomous driving. However, scan generation remains challenging, especially when compared to the rapid advancement of image and 3D object generation. We consider…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

Paris-CARLA-3D is a dataset of several dense colored point clouds of outdoor environments built by a mobile LiDAR and camera system. The data are composed of two sets with synthetic data from the open source CARLA simulator (700 million…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

The purpose of this study was to investigate the use of deep learning for coniferous/deciduous classification of individual trees from airborne LiDAR data. To enable efficient processing by a deep convolutional neural network (CNN), we…

In recent years, unmanned aerial vehicles (UAVs) have played an increasingly crucial role in supporting disaster emergency response efforts by analyzing aerial images. While current deep-learning models focus on improving accuracy, they…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

Rapid renovation of Europe's inefficient buildings is required to reduce climate change. However, analyzing and evaluating buildings at scale is challenging because every building is unique. In current practice, the energy performance of…