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

Existing LiDAR semantic segmentation models often suffer from decreased accuracy when exposed to adverse weather conditions. Recent methods addressing this issue focus on enhancing training data through weather simulation or universal…

LiDAR point clouds captured in rain or snow are often corrupted by weather-induced returns, which can degrade perception and safety-critical scene understanding. This paper proposes Intensity- and Distance-Aware Statistical Outlier Removal…

Deep learning-based LiDAR odometry is crucial for autonomous driving and robotic navigation, yet its performance under adverse weather, especially snowfall, remains challenging. Existing models struggle to generalize across conditions due…

Nowadays, subsurface salt body localization and delineation, also called semantic segmentation of salt bodies, are among the most challenging geophysicist tasks. Thus, identifying large salt bodies is notoriously tricky and is crucial for…

High-autonomy vehicle functions rely on machine learning (ML) algorithms to understand the environment. Despite displaying remarkable performance in fair weather scenarios, perception algorithms are heavily affected by adverse weather and…

Rain fills the atmosphere with water particles, which breaks the common assumption that light travels unaltered from the scene to the camera. While it is well-known that rain affects computer vision algorithms, quantifying its impact is…

To train a well performing neural network for semantic segmentation, it is crucial to have a large dataset with available ground truth for the network to generalize on unseen data. In this paper we present novel point cloud augmentation…

In the field of autonomous driving, camera-based perception models are mostly trained on clear weather data. Models that focus on addressing specific weather challenges are unable to adapt to various weather changes and primarily prioritize…

In autonomous driving, 3D LiDAR plays a crucial role in understanding the vehicle's surroundings. However, the newly emerged, unannotated objects presents few-shot learning problem for semantic segmentation. This paper addresses the…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

Semantic segmentation of SAR images has garnered significant attention in remote sensing due to the immunity of SAR sensors to cloudy weather and light conditions. Nevertheless, SAR imagery lacks detailed information and is plagued by…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

RT-DETRs have shown strong performance across various computer vision tasks but are known to degrade under challenging weather conditions such as fog. In this work, we investigate three novel approaches to enhance RT-DETR robustness in…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…

Accurate perception is critical for vehicle safety, with LiDAR as a key enabler in autonomous driving. To ensure robust performance across environments, sensor types, and weather conditions without costly re-annotation, domain…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Since real-world training datasets cannot properly sample the long tail of the underlying data distribution, corner cases and rare out-of-domain samples can severely hinder the performance of state-of-the-art models. This problem becomes…

Camera localization is a fundamental and crucial problem for many robotic applications. In recent years, using deep-learning for camera-based localization has become a popular research direction. However, they lack robustness to large…

In recent years, semantic segmentation has become a pivotal tool in processing and interpreting satellite imagery. Yet, a prevalent limitation of supervised learning techniques remains the need for extensive manual annotations by experts.…