相关论文: Multi-Modal Data-Efficient 3D Scene Understanding …

Learning 3D scene flow from LiDAR point clouds presents significant difficulties, including poor generalization from synthetic datasets to real scenes, scarcity of real-world 3D labels, and poor performance on real sparse LiDAR point…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

3D scene understanding plays a fundamental role in vision applications such as robotics, autonomous driving, and augmented reality. However, advancing learning-based 3D scene understanding remains challenging due to two key limitations: (1)…

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…

This paper introduces a novel self-supervised learning framework for enhancing 3D perception in autonomous driving scenes. Specifically, our approach, namely NCLR, focuses on 2D-3D neural calibration, a novel pretext task that estimates the…

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…

In response to the growing demand for 3D object detection in applications such as autonomous driving, robotics, and augmented reality, this work focuses on the evaluation of semi-supervised learning approaches for point cloud data. The…

Label-efficient LiDAR-based 3D object detection is currently dominated by weakly/semi-supervised methods. Instead of exclusively following one of them, we propose MixSup, a more practical paradigm simultaneously utilizing massive cheap…

With the advancement of autonomous driving, numerous annotated multi-modality datasets have become available. This presents an opportunity to develop domain-adaptive 3D object detectors for new environments without relying on…

3D object detection task from lidar or camera sensors is essential for autonomous driving. Pioneer attempts at multi-modality fusion complement the sparse lidar point clouds with rich semantic texture information from images at the cost of…

While Vision-Language Models (VLMs) show significant promise for end-to-end autonomous driving by leveraging the common sense embedded in language models, their reliance on 2D image cues for complex scene understanding and decision-making…

We present an unsupervised adaptation approach for visual scene understanding in unstructured traffic environments. Our method is designed for unstructured real-world scenarios with dense and heterogeneous traffic consisting of cars,…

Vision foundation models such as Contrastive Vision-Language Pre-training (CLIP) and Segment Anything (SAM) have demonstrated impressive zero-shot performance on image classification and segmentation tasks. However, the incorporation of…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

Deep learning has been used to demonstrate end-to-end neural network learning for autonomous vehicle control from raw sensory input. While LiDAR sensors provide reliably accurate information, existing end-to-end driving solutions are mainly…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

In self-driving applications, LiDAR data provides accurate information about distances in 3D but lacks the semantic richness of camera data. Therefore, state-of-the-art methods for perception in urban scenes fuse data from both sensor…

Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an important role to enable intelligent navigation behaviors. In…

Reliable 3D object detection is fundamental to autonomous driving, and multimodal fusion algorithms using cameras and LiDAR remain a persistent challenge. Cameras provide dense visual cues but ill posed depth; LiDAR provides a precise 3D…