相关论文: ECLAIR: A High-Fidelity Aerial LiDAR Dataset for S…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

This paper introduces a new Urban Point Cloud Dataset for Automatic Segmentation and Classification acquired by Mobile Laser Scanning (MLS). We describe how the dataset is obtained from acquisition to post-processing and labeling. This…

Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment,…

This paper proposes a hierarchical clustering approach for the segmentation of mobile LiDAR point clouds. We perform the hierarchical clustering on unorganized point clouds based on a proximity matrix. The dissimilarity measure in the…

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the…

Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

Lidar datasets are becoming more and more common. They are appreciated for their precise 3D nature, and have a wide range of applications, such as surface reconstruction, object detection, visualisation, etc. For all this applications,…

Semantic scene understanding is important for various applications. In particular, self-driving cars need a fine-grained understanding of the surfaces and objects in their vicinity. Light detection and ranging (LiDAR) provides precise…

Wake vortices - strong, coherent air turbulences created by aircraft - pose a significant risk to aviation safety and therefore require accurate and reliable detection methods. In this paper, we present an advanced, explainable machine…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

High-resolution LiDAR data plays a critical role in 3D semantic segmentation for autonomous driving, but the high cost of advanced sensors limits large-scale deployment. In contrast, low-cost sensors such as 16-channel LiDAR produce sparse…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

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…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Increasing the density of the 3D LiDAR point cloud is appealing for many applications in robotics. However, high-density LiDAR sensors are usually costly and still limited to a level of coverage per scan (e.g., 128 channels). Meanwhile,…

Semantic segmentation of LiDAR data presents considerable challenges, particularly when dealing with diverse sensor types and configurations. However, incorporating semantic information can significantly enhance the accuracy and robustness…

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…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…