相关论文: CurbNet: Curb Detection Framework Based on LiDAR P…

Robust road segmentation is a key challenge in self-driving research. Though many image-based methods have been studied and high performances in dataset evaluations have been reported, developing robust and reliable road segmentation is…

Point cloud segmentation is fundamental in understanding 3D environments. However, current 3D point cloud segmentation methods usually perform poorly on scene boundaries, which degenerates the overall segmentation performance. In this…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

We present PI3DETR, an end-to-end framework that directly predicts 3D parametric curve instances from raw point clouds, avoiding the intermediate representations and multi-stage processing common in prior work. Extending 3DETR, our model…

Lane detection is challenging due to the complicated on road scenarios and line deformation from different camera perspectives. Lots of solutions were proposed, but can not deal with corner lanes well. To address this problem, this paper…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

3D point cloud completion is very challenging because it heavily relies on the accurate understanding of the complex 3D shapes (e.g., high-curvature, concave/convex, and hollowed-out 3D shapes) and the unknown & diverse patterns of the…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Robust point cloud registration is a fundamental task in 3D computer vision and geometric deep learning, essential for applications such as large-scale 3D reconstruction, augmented reality, and scene understanding. However, the performance…

Recently, fusing the LiDAR point cloud and camera image to improve the performance and robustness of 3D object detection has received more and more attention, as these two modalities naturally possess strong complementarity. In this paper,…

3D object detection is essential in autonomous driving, providing vital information about moving objects and obstacles. Detecting objects in distant regions with only a few LiDAR points is still a challenge, and numerous strategies have…

3D shape recognition has attracted more and more attention as a task of 3D vision research. The proliferation of 3D data encourages various deep learning methods based on 3D data. Now there have been many deep learning models based on…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

We present a self-supervised task on point clouds, in order to learn meaningful point-wise features that encode local structure around each point. Our self-supervised network, named MortonNet, operates directly on unstructured/unordered…

Smart monitoring using three-dimensional (3D) image sensors has been attracting attention in the context of smart cities. In smart monitoring, object detection from point cloud data acquired by 3D image sensors is implemented for detecting…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

Accurate boundary detection in high-dimensional data remains a central challenge in unsupervised learning, particularly in the presence of non-linear structures and heterogeneous densities. In this work, we introduce Mean Curvature Boundary…