相关论文: UniMix: Towards Domain Adaptive and Generalizable …

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

3D LiDAR semantic segmentation is fundamental for autonomous driving. Several Unsupervised Domain Adaptation (UDA) methods for point cloud data have been recently proposed to improve model generalization for different sensors and…

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models…

Unsupervised Domain Adaptive Semantic Segmentation (UDA-SS) aims to transfer the supervision from a labeled source domain to an unlabeled target domain. The majority of existing UDA-SS works typically consider images whilst recent attempts…

Densely annotating LiDAR point clouds is costly, which restrains the scalability of fully-supervised learning methods. In this work, we study the underexplored semi-supervised learning (SSL) in LiDAR segmentation. Our core idea is to…

In autonomous driving, learning a segmentation model that can adapt to various environmental conditions is crucial. In particular, copying with severe illumination changes is an impelling need, as models trained on daylight data will…

Learning models on one labeled dataset that generalize well on another domain is a difficult task, as several shifts might happen between the data domains. This is notably the case for lidar data, for which models can exhibit large…

Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under varying sensor configurations and weather…

LiDAR scene generation is increasingly important for scalable simulation and synthetic data creation, especially under diverse sensing conditions that are costly to capture at scale. Typically, diffusion-based LiDAR generators are developed…

Various adverse weather conditions such as fog and rain pose a significant challenge to autonomous driving (AD) perception tasks like semantic segmentation, object detection, etc. The common domain adaption strategy is to minimize the…

Segmentation of lidar data is a task that provides rich, point-wise information about the environment of robots or autonomous vehicles. Currently best performing neural networks for lidar segmentation are fine-tuned to specific datasets.…

LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…

Unsupervised domain adaptation for semantic segmentation (UDA-SS) aims to transfer knowledge from labeled source data to unlabeled target data. However, traditional UDA-SS methods assume that category settings between source and target…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

A robust and reliable semantic segmentation in adverse weather conditions is very important for autonomous cars, but most state-of-the-art approaches only achieve high accuracy rates in optimal weather conditions. The reason is that they…

Current LiDAR-based Vehicle-to-Everything (V2X) multi-agent perception systems have shown the significant success on 3D object detection. While these models perform well in the trained clean weather, they struggle in unseen adverse weather…

LiDAR semantic segmentation provides 3D semantic information about the environment, an essential cue for intelligent systems during their decision making processes. Deep neural networks are achieving state-of-the-art results on large public…

Image-to-image translation architectures may have limited effectiveness in some circumstances. For example, while generating rainy scenarios, they may fail to model typical traits of rain as water drops, and this ultimately impacts the…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…