相关论文: RAPiD-Seg: Range-Aware Pointwise Distance Distribu…

Autonomous driving vehicles and robotic systems rely on accurate perception of their surroundings. Scene understanding is one of the crucial components of perception modules. Among all available sensors, LiDARs are one of the essential…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

LiDAR segmentation is crucial for autonomous driving perception. Recent trends favor point- or voxel-based methods as they often yield better performance than the traditional range view representation. In this work, we unveil several key…

We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

Stereo-LiDAR fusion is a promising task in that we can utilize two different types of 3D perceptions for practical usage -- dense 3D information (stereo cameras) and highly-accurate sparse point clouds (LiDAR). However, due to their…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

3D point clouds are essential for perceiving outdoor scenes, especially within the realm of autonomous driving. Recent advances in 3D LiDAR Object Detection focus primarily on the spatial positioning and distribution of points to ensure…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

This paper proposes RIU-Net (for Range-Image U-Net), the adaptation of a popular semantic segmentation network for the semantic segmentation of a 3D LiDAR point cloud. The point cloud is turned into a 2D range-image by exploiting the…

3D panoptic segmentation is a challenging perception task that requires both semantic segmentation and instance segmentation. In this task, we notice that images could provide rich texture, color, and discriminative information, which can…

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…