相关论文: Multi-Space Alignments Towards Universal LiDAR Seg…

The safe operation of automated vehicles depends on their ability to perceive the environment comprehensively. However, occlusion, sensor range, and environmental factors limit their perception capabilities. To overcome these limitations,…

LiDAR-based semantic segmentation is critical in the fields of robotics and autonomous driving as it provides a comprehensive understanding of the scene. This paper proposes a lightweight and efficient projection-based semantic segmentation…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

Using deep learning, 3D autonomous driving semantic segmentation has become a well-studied subject, with methods that can reach very high performance. Nonetheless, because of the limited size of the training datasets, these models cannot…

Multi-modality fusion and multi-task learning are becoming trendy in 3D autonomous driving scenario, considering robust prediction and computation budget. However, naively extending the existing framework to the domain of multi-modality…

Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…

With the rapid advancement of remote sensing technology, high-resolution multi-modal imagery is now more widely accessible. Conventional Object detection models are trained on a single dataset, often restricted to a specific imaging…

Reliable and accurate lane detection has been a long-standing problem in the field of autonomous driving. In recent years, many approaches have been developed that use images (or videos) as input and reason in image space. In this paper we…

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…

LiDAR segmentation has become a crucial component of advanced autonomous driving systems. Recent range-view LiDAR segmentation approaches show promise for real-time processing. However, they inevitably suffer from corrupted contextual…

Recently, progress in acquisition equipment such as LiDAR sensors has enabled sensing increasingly spacious outdoor 3D environments. Making sense of such 3D acquisitions requires fine-grained scene understanding, such as constructing…

In this paper, we present an Assertion-based Multi-View Fusion network (AMVNet) for LiDAR semantic segmentation which aggregates the semantic features of individual projection-based networks using late fusion. Given class scores from…

With the ability of providing direct and accurate enough range measurements, light detection and ranging (LiDAR) is playing an essential role in localization and detection for autonomous vehicles. Since single LiDAR suffers from hardware…

Multi-modal systems have the capacity of producing more reliable results than systems with a single modality in road detection due to perceiving different aspects of the scene. We focus on using raw sensor inputs instead of, as it is…

Semantic segmentation is a fundamental perception task in autonomous driving, particularly for identifying drivable areas and lane markings to enable safe navigation. However, most state-of-the-art (SOTA) models are computationally…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…

The vulnerability of cyclists, exacerbated by the rising popularity of faster e-bikes, motivates adapting automotive perception technologies for bicycle safety. We use our multi-sensor 'SenseBike' research platform to develop and evaluate a…

To operate safely, autonomous vehicles (AVs) need to detect and handle unexpected objects or anomalies on the road. While significant research exists for anomaly detection and segmentation in 2D, research progress in 3D is underexplored.…

We introduce M$^3$CAD, a comprehensive benchmark designed to advance research in generic cooperative autonomous driving. M$^3$CAD comprises 204 sequences with 30,000 frames. Each sequence includes data from multiple vehicles and different…