相关论文: DiffSSC: Semantic LiDAR Scan Completion using Deno…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

Semantic Scene Completion (SSC) is a critical task in computer vision, that utilized in applications such as virtual reality (VR). SSC aims to construct detailed 3D models from partial views by transforming a single 2D image into a 3D…

LiDAR-based 3D point cloud recognition has benefited various applications. Without specially considering the LiDAR point distribution, most current methods suffer from information disconnection and limited receptive field, especially for…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…

In Autonomous Driving (AD), detection and tracking of obstacles on the roads is a critical task. Deep-learning based methods using annotated LiDAR data have been the most widely adopted approach for this. Unfortunately, annotating 3D point…

Recent advances in mobile mapping systems have greatly enhanced the efficiency and convenience of acquiring urban 3D data. These systems utilize LiDAR sensors mounted on vehicles to capture vast cityscapes. However, a significant challenge…

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…

Generative models capture the true distribution of data, yielding semantically rich representations. Denoising diffusion models (DDMs) exhibit superior generative capabilities, though efficient representation learning for them are lacking.…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

3D point clouds play a pivotal role in outdoor scene perception, especially in the context of autonomous driving. Recent advancements in 3D LiDAR segmentation often focus intensely on the spatial positioning and distribution of points for…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Real-world image super-resolution (Real-ISR) must handle complex degradations and inherent reconstruction ambiguities. While generative models have improved perceptual quality, a key trade-off remains with computational cost. One-step…

Weakly Supervised Semantic Segmentation (WSSS) with image-level labels typically leverages Class Activation Maps (CAMs) to achieve pixel-level predictions. Recently, Contrastive Language-Image Pre-training (CLIP) has been introduced to…

LiDAR sensors provide rich 3D information about their surrounding{s} and are becoming increasingly important for autonomous vehicles tasks such as {localization}, semantic segmentation, object detection, and tracking. {Simulation}…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

Semantic segmentation serves as a cornerstone of scene understanding in autonomous driving but continues to face significant challenges under complex conditions such as occlusion. Light field and LiDAR modalities provide complementary…

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…