相关论文: Gap Completion in Point Cloud Scene occluded by Ve…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Pedestrian detection relying on deep convolution neural networks has made significant progress. Though promising results have been achieved on standard pedestrians, the performance on heavily occluded pedestrians remains far from…

We study a new problem of semantic complete scene forecasting (SCSF) in this work. Given a 4D dynamic point cloud sequence, our goal is to forecast the complete scene corresponding to the future next frame along with its semantic labels. To…

This paper addresses the challenge of robotic grasping of general objects. Similar to prior research, the task reads a single-view 3D observation (i.e., point clouds) captured by a depth camera as input. Crucially, the success of object…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

The occlusion issues of computer vision (CV) applications in construction have attracted significant attention, especially those caused by the wide-coverage, crisscrossed, and immovable scaffold. Intuitively, removing the scaffold and…

Single-view point cloud completion aims to recover the full geometry of an object based on only limited observation, which is extremely hard due to the data sparsity and occlusion. The core challenge is to generate plausible geometries to…

Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…

We present a novel non-iterative learnable method for partial-to-partial 3D shape registration. The partial alignment task is extremely complex, as it jointly tries to match between points and identify which points do not appear in the…

Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

Autonomous vehicles need a complete map of their surroundings to plan and act. This has sparked research into the tasks of 3D occupancy prediction, 3D scene completion, and 3D panoptic scene completion, which predict a dense map of the ego…

Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…

The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…

We present a new learning-based method for multi-frame depth estimation from a color video, which is a fundamental problem in scene understanding, robot navigation or handheld 3D reconstruction. While recent learning-based methods estimate…

At present, the anchor-based or anchor-free models that use LiDAR point clouds for 3D object detection use the center assigner strategy to infer the 3D bounding boxes. However, in a real world scene, the LiDAR can only acquire a limited…

Understanding the flow in 3D space of sparsely sampled points between two consecutive time frames is the core stone of modern geometric-driven systems such as VR/AR, Robotics, and Autonomous driving. The lack of real, non-simulated, labeled…