相关论文: Text2LiDAR: Text-guided LiDAR Point Cloud Generati…

In the autonomous driving domain, data collection and annotation from real vehicles are expensive and sometimes unsafe. Simulators are often used for data augmentation, which requires realistic sensor models that are hard to formulate and…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

In this paper, we address the limitations of traditional constant false alarm rate (CFAR) target detectors in automotive radars, particularly in complex urban environments with multiple objects that appear as extended targets. We propose a…

End-to-end autonomous driving solutions, which process multi-modal sensory data to directly generate refined control commands, have become a dominant paradigm in autonomous driving research. However, these approaches predominantly depend on…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…

We introduce R2LDM, an innovative approach for generating dense and accurate 4D radar point clouds, guided by corresponding LiDAR point clouds. Instead of utilizing range images or bird's eye view (BEV) images, we represent both LiDAR and…

There is a growing interest in the development of lidar-based autonomous mobility and Intelligent Transportation Systems (ITS). To operate and research on lidar data, researchers often develop code specific to application niche. This…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

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…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration…

The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…

Embodied perception is essential for intelligent vehicles and robots in interactive environmental understanding. However, these advancements primarily focus on vision, with limited attention given to using 3D modeling sensors, restricting a…

Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…

In recent years, the LiDAR images, as a 2D compact representation of 3D LiDAR point clouds, are widely applied in various tasks, e.g., 3D semantic segmentation, LiDAR point cloud compression (PCC). Among these works, the optical flow…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is…