相关论文: Uplifting Range-View-based 3D Semantic Segmentatio…

Embodied outdoor scene understanding forms the foundation for autonomous agents to perceive, analyze, and react to dynamic driving environments. However, existing 3D understanding is predominantly based on 2D Vision-Language Models (VLMs),…

Latent diffusion models have proven to be state-of-the-art in the creation and manipulation of visual outputs. However, as far as we know, the generation of depth maps jointly with RGB is still limited. We introduce LDM3D-VR, a suite of…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

In autonomous driving, LiDAR sensors are vital for acquiring 3D point clouds, providing reliable geometric information. However, traditional sampling methods of preprocessing often ignore semantic features, leading to detail loss and ground…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Our goal is to develop stable, accurate, and robust semantic scene understanding methods for wide-area scene perception and understanding, especially in challenging outdoor environments. To achieve this, we are exploring and evaluating a…

This paper addresses the problem of holistic road scene understanding based on the integration of visual and range data. To achieve the grand goal, we propose an approach that jointly tackles object-level image segmentation and semantic…

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

We present a novel approach to perform 3D semantic segmentation solely from 2D supervision by leveraging Neural Radiance Fields (NeRFs). By extracting features along a surface point cloud, we achieve a compact representation of the scene…

Synthesizing photo-realistic images from a point cloud is challenging because of the sparsity of point cloud representation. Recent Neural Radiance Fields and extensions are proposed to synthesize realistic images from 2D input. In this…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Various real-time methods for capturing and transmitting dynamic 3D spaces have been proposed, including those based on RGB-D cameras and volumetric capture. However, applying existing methods to outdoor tourist sites remains difficult…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Range-view based LiDAR segmentation methods are attractive for practical applications due to their direct inheritance from efficient 2D CNN architectures. In literature, most range-view based methods follow the per-pixel classification…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…