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

The worldwide commercialization of fifth generation (5G) wireless networks and the exciting possibilities offered by connected and autonomous vehicles (CAVs) are pushing toward the deployment of heterogeneous sensors for tracking dynamic…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

We present the P$^3$ dataset, a large-scale multimodal benchmark for building vectorization, constructed from aerial LiDAR point clouds, high-resolution aerial imagery, and vectorized 2D building outlines, collected across three continents.…

Making sense of the physical world has always been at the core of mapping. Up until recently, this has always dependent on using the human eye. Using airborne lasers, it has become possible to quickly "see" more of the world in many more…

This paper provides the EVOPS dataset for plane segmentation from 3D data, both from RGBD images and LiDAR point clouds. We have designed two annotation methodologies (RGBD and LiDAR) running on well-known and widely-used datasets for SLAM…

Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…

LiDAR segmentation is crucial for autonomous driving perception. Recent trends favor point- or voxel-based methods as they often yield better performance than the traditional range view representation. In this work, we unveil several key…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

Knowledge transfer from synthetic to real data has been widely studied to mitigate data annotation constraints in various computer vision tasks such as semantic segmentation. However, the study focused on 2D images and its counterpart in 3D…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Moving object segmentation (MOS) using a 3D light detection and ranging (LiDAR) sensor is crucial for scene understanding and identification of moving objects. Despite the availability of various types of 3D LiDAR sensors in the market, MOS…

Point clouds have been widely adopted in 3D semantic scene understanding. However, point clouds for typical tasks such as 3D shape segmentation or indoor scenario parsing are much denser than outdoor LiDAR sweeps for the application of…

Panoptic segmentation of LiDAR point clouds is fundamental to outdoor scene understanding, with autonomous driving being a primary application. While state-of-the-art approaches typically rely on end-to-end deep learning architectures and…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

Panoptic segmentation presents a new challenge in exploiting the merits of both detection and segmentation, with the aim of unifying instance segmentation and semantic segmentation in a single framework. However, an efficient solution for…

Panoptic segmentation has recently unified semantic and instance segmentation, previously addressed separately, thus taking a step further towards creating more comprehensive and efficient perception systems. In this paper, we present…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

Segmentation from point cloud data is essential in many applications such as remote sensing, mobile robots, or autonomous cars. However, the point clouds captured by the 3D range sensor are commonly sparse and unstructured, challenging…