相关论文: Rethinking Data Augmentation for Robust LiDAR Sema…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

Semantic Image Segmentation facilitates a multitude of real-world applications ranging from autonomous driving over industrial process supervision to vision aids for human beings. These models are usually trained in a supervised fashion…

Currently, semantic segmentation shows remarkable efficiency and reliability in standard scenarios such as daytime scenes with favorable illumination conditions. However, in face of adverse conditions such as the nighttime, semantic…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

LiDAR semantic segmentation (LSS) is a critical task in autonomous driving and has achieved promising progress. However, prior LSS methods are conventionally investigated and evaluated on datasets within the same domain in clear weather.…

The performance of state-of-the-art object detectors degrades significantly under adverse weather, causing a safety-critical domain shift problem for autonomous vehicles. Recent efforts address this problem by relying on synthetic data to…

This paper investigates the impact of LiDAR configuration shifts on the performance of 3D LiDAR point cloud semantic segmentation models, a topic not extensively studied before. We explore the effect of using different LiDAR channels when…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Under these circumstances, several ground segmentation methods…

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…

Reliable point cloud data is essential for perception tasks \textit{e.g.} in robotics and autonomous driving applications. Adverse weather causes a specific type of noise to light detection and ranging (LiDAR) sensor data, which degrades…

Adverse weather can cause noise to light detection and ranging (LiDAR) data. This is a problem since it is used in many outdoor applications, e.g. object detection and mapping. We propose the task of multi-echo denoising, where the goal is…

Semantic segmentation of LiDAR point clouds has been widely studied in recent years, with most existing methods focusing on tackling this task using a single scan of the environment. However, leveraging the temporal stream of observations…

LiDAR sensors provide high-resolution 3D perception and long-range detection, making them indispensable for autonomous driving and robotics. However, their performance significantly degrades under adverse weather conditions such as snow,…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

We present a novel post-processing tool for semantic segmentation of LiDAR point cloud data, called LidarMetaSeg, which estimates the prediction quality segmentwise. For this purpose we compute dispersion measures based on network…

Retraining modern deep learning systems can lead to variations in model performance even when trained using the same data and hyper-parameters by simply using different random seeds. We call this phenomenon model jitter. This issue is often…

Most state-of-the-art semantic segmentation approaches only achieve high accuracy in good conditions. In practically-common but less-discussed adverse environmental conditions, their performance can decrease enormously. Existing studies…