相关论文: SLCF-Net: Sequential LiDAR-Camera Fusion for Seman…

We propose ESSC-RM, a plug-and-play Enhancing framework for Semantic Scene Completion with a Refinement Module, which can be seamlessly integrated into existing SSC models. ESSC-RM operates in two phases: a baseline SSC network first…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Depth completion aims to recover dense depth maps from sparse ones, where color images are often used to facilitate this task. Recent depth methods primarily focus on image guided learning frameworks. However, blurry guidance in the image…

Dense depth completion is essential for autonomous systems and 3D reconstruction. In this paper, a lightweight yet efficient network (S\&CNet) is proposed to obtain a good trade-off between efficiency and accuracy for the dense depth…

Perceiving the three-dimensional (3D) structure of the spacecraft is a prerequisite for successfully executing many on-orbit space missions, and it can provide critical input for many downstream vision algorithms. In this paper, we propose…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

LiDAR and camera are two critical sensors for multi-modal 3D semantic segmentation and are supposed to be fused efficiently and robustly to promise safety in various real-world scenarios. However, existing multi-modal methods face two key…

Monocular Semantic Scene Completion (SSC) aims to reconstruct complete 3D semantic scenes from a single RGB image, offering a cost-effective solution for autonomous driving and robotics. However, the inherently imbalanced nature of voxel…

Convolutional networks are the de-facto standard for analyzing spatio-temporal data such as images, videos, and 3D shapes. Whilst some of this data is naturally dense (e.g., photos), many other data sources are inherently sparse. Examples…

Existing offline feed-forward methods for joint scene understanding and reconstruction on long image streams often repeatedly perform global computation over an ever-growing set of past observations, causing runtime and GPU memory to…

Monocular Indoor Semantic Scene Completion (SSC) aims to reconstruct a 3D semantic occupancy map from a single RGB image of an indoor scene, inferring spatial layout and object categories from 2D image cues. The challenge of this task…

We present Seen2Scene, the first flow matching-based approach that trains directly on incomplete, real-world 3D scans for scene completion and generation. Unlike prior methods that rely on complete and hence synthetic 3D data, our approach…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

To realize high-accuracy classification of high spatial resolution (HSR) images, this letter proposes a new multi-feature fusion-based scene classification framework (MF2SCF) by fusing local, global, and color features of HSR images.…

Self-supervised depth estimation has made a great success in learning depth from unlabeled image sequences. While the mappings between image and pixel-wise depth are well-studied in current methods, the correlation between image, depth and…

Recent advances in mobile mapping systems have greatly enhanced the efficiency and convenience of acquiring urban 3D data. These systems utilize LiDAR sensors mounted on vehicles to capture vast cityscapes. However, a significant challenge…

For applications such as autonomous driving, self-localization/camera pose estimation and scene parsing are crucial technologies. In this paper, we propose a unified framework to tackle these two problems simultaneously. The uniqueness of…