相关论文: Image-Guided Semantic Pseudo-LiDAR Point Generatio…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Road detection is a critically important task for self-driving cars. By employing LiDAR data, recent works have significantly improved the accuracy of road detection. Relying on LiDAR sensors limits the wide application of those methods…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Pseudo-LiDAR-based methods for monocular 3D object detection have received considerable attention in the community due to the performance gains exhibited on the KITTI3D benchmark, in particular on the commonly reported validation split.…

While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures additional data, including reflectivity or intensity values.…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

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…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…

As 3D perception problems grow in popularity and the need for large-scale labeled datasets for LiDAR semantic segmentation increase, new methods arise that aim to reduce the necessity for dense annotations by employing weakly-supervised…

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…

In autonomous driving, 3D object detection provides more precise information for downstream tasks, including path planning and motion estimation, compared to 2D object detection. In this paper, we propose SeSame: a method aimed at enhancing…

In GPS-denied scenarios, a robust environmental perception and localization system becomes crucial for autonomous driving. In this paper, a LiDAR-based online localization system is developed, incorporating road marking detection and…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

Most state-of-the-art 3D object detectors heavily rely on LiDAR sensors because there is a large performance gap between image-based and LiDAR-based methods. It is caused by the way to form representation for the prediction in 3D scenarios.…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

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…

Accurate and reliable 3D object detection is vital to safe autonomous driving. Despite recent developments, the performance gap between stereo-based methods and LiDAR-based methods is still considerable. Accurate depth estimation is crucial…