相关论文: TripleMixer: A 3D Point Cloud Denoising Model for …

4D radar-based object detection has garnered great attention for its robustness in adverse weather conditions and capacity to deliver rich spatial information across diverse driving scenarios. Nevertheless, the sparse and noisy nature of 4D…

This paper investigates image denoising, comparing traditional non-learning-based techniques, represented by Block-Matching 3D (BM3D), with modern learning-based methods, exemplified by NBNet. We assess these approaches across diverse…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

During a surface acquisition process using 3D scanners, noise is inevitable and an important step in geometry processing is to remove these noise components from these surfaces (given as points-set or triangulated mesh). The noise-removal…

In this paper, we propose a new algorithm for point cloud denoising based on the tensor Tucker decomposition. We first represent the local surface patches of a noisy point cloud to be matrices by their distances to a reference point, and…

In this work, we tackle the task of point cloud denoising through a novel framework that adapts Diffusion Schr\"odinger bridges to points clouds. Unlike previous approaches that predict point-wise displacements from point features or…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

Adverse weather conditions can negatively affect LiDAR-based object detectors. In this work, we focus on the phenomenon of vehicle gas exhaust condensation in cold weather conditions. This everyday effect can influence the estimation of…

While deep Convolutional Neural Networks (CNNs) have shown extraordinary capability of modelling specific noise and denoising, they still perform poorly on real-world noisy images. The main reason is that the real-world noise is more…

Autonomous vehicles rely on a variety of sensors to gather information about their surrounding. The vehicle's behavior is planned based on the environment perception, making its reliability crucial for safety reasons. The active LiDAR…

Diffusion models have found valuable applications in anomaly detection by capturing the nominal data distribution and identifying anomalies via reconstruction. Despite their merits, they struggle to localize anomalies of varying scales,…

Reduction of unwanted environmental noises is an important feature of today's hearing aids (HA), which is why noise reduction is nowadays included in almost every commercially available device. The majority of these algorithms, however, is…

A 3D point cloud is typically constructed from depth measurements acquired by sensors at one or more viewpoints. The measurements suffer from both quantization and noise corruption. To improve quality, previous works denoise a point cloud…

Image restoration under adverse weather conditions has been of significant interest for various computer vision applications. Recent successful methods rely on the current progress in deep neural network architectural designs (e.g., with…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

In low-visibility marine environments characterized by turbidity and darkness, acoustic cameras serve as visual sensors capable of generating high-resolution 2D sonar images. However, acoustic camera images are interfered with by complex…

Real-world image denoising is an extremely important image processing problem, which aims to recover clean images from noisy images captured in natural environments. In recent years, diffusion models have achieved very promising results in…

Sensor fusion is a crucial augmentation technique for improving the accuracy and reliability of perception systems for automated vehicles under diverse driving conditions. However, adverse weather and low-light conditions remain…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

In recent years, the fusion of camera data with LiDAR measurements has emerged as a powerful approach to enhance spatial understanding. This study introduces a novel, hardware-agnostic methodology that generates colourised point clouds from…