相关论文: On Deep Learning for Geometric and Semantic Scene …

We present a review of 3D point cloud processing and learning for autonomous driving. As one of the most important sensors in autonomous vehicles, light detection and ranging (LiDAR) sensors collect 3D point clouds that precisely record the…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

LiDAR has become a standard sensor for autonomous driving applications as they provide highly precise 3D point clouds. LiDAR is also robust for low-light scenarios at night-time or due to shadows where the performance of cameras is…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

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…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

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…

State-of-the-art methods for large-scale driving-scene LiDAR semantic segmentation often project and process the point clouds in the 2D space. The projection methods includes spherical projection, bird-eye view projection, etc. Although…

We present DurLAR, a high-fidelity 128-channel 3D LiDAR dataset with panoramic ambient (near infrared) and reflectivity imagery, as well as a sample benchmark task using depth estimation for autonomous driving applications. Our driving…

In the field of SLAM (Simultaneous Localization And Mapping) for robot navigation, mapping the environment is an important task. In this regard the Lidar sensor can produce near accurate 3D map of the environment in the format of point…

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…

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…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Semantic scene understanding, including the perception and classification of moving agents, is essential to enabling safe and robust driving behaviours of autonomous vehicles. Cameras and LiDARs are commonly used for semantic scene…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

This article presents a complete semantic scene understanding workflow using only a single 2D lidar. This fills the gap in 2D lidar semantic segmentation, thereby enabling the rethinking and enhancement of existing 2D lidar-based algorithms…

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 vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…