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

Point cloud semantic segmentation has attracted attentions due to its robustness to light condition. This makes it an ideal semantic solution for autonomous driving. However, considering the large computation burden and bandwidth demanding…

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…

Radar-camera fusion methods have emerged as a cost-effective approach for 3D object detection but still lag behind LiDAR-based methods in performance. Recent works have focused on employing temporal fusion and Knowledge Distillation (KD)…

3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…

We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…

3D scene understanding is crucial for facilitating seamless interaction between digital devices and the physical world. Real-time capturing and processing of the 3D scene are essential for achieving this seamless integration. While existing…

Conventional radar segmentation research has typically focused on learning category labels for different moving objects. Although fundamental differences between radar and optical sensors lead to differences in the reliability of predicting…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

Semantic segmentation of large-scale 3D point clouds is crucial for applications such as autonomous driving and urban digital twins. However, the sparse sampling pattern of LiDAR and the view-dependent geometric distortion in image…

Semantic segmentation is an important component in the perception systems of autonomous vehicles. In this work, we adopt recent advances in both image and point cloud segmentation to achieve a better accuracy in the task of segmenting LiDAR…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Semantic scene understanding, including the perception and classification of moving agents, is essential to enabling safe and robust driving behaviours of autonomous vehicles. Cameras and LiDARs are commonly used for semantic scene…

Real-time multi-camera 3D reconstruction is crucial for 3D perception, immersive interaction, and robotics. Existing methods struggle with multi-view fusion, camera extrinsic uncertainty, and scalability for large camera setups. We propose…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

Reliable perception is essential for autonomous driving systems to operate safely under diverse real-world traffic conditions. However, camera- and LiDAR-based perception systems suffer from performance degradation under adverse weather and…

As an emerging technology and a relatively affordable device, the 4D imaging radar has already been confirmed effective in performing 3D object detection in autonomous driving. Nevertheless, the sparsity and noisiness of 4D radar point…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

Visual-Spatial Systems has become increasingly essential in concrete crack inspection. However, existing methods often lacks adaptability to diverse scenarios, exhibits limited robustness in image-based approaches, and struggles with curved…