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

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

Accurate and robust environmental perception is crucial for robot autonomous navigation. While current methods typically adopt optical sensors (e.g., camera, LiDAR) as primary sensing modalities, their susceptibility to visual occlusion…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the amount of available data increases. As the performance of…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

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…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Conservation and decision-making regarding forest resources necessitate regular forest inventory. Light detection and ranging (LiDAR) in laser scanning systems has gained significant attention over the past two decades as a remote and…

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…

In autonomous driving, the novel objects and lack of annotations challenge the traditional 3D LiDAR semantic segmentation based on deep learning. Few-shot learning is a feasible way to solve these issues. However, currently few-shot…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

Scene understanding is a pivotal task for autonomous vehicles to safely navigate in the environment. Recent advances in deep learning enable accurate semantic reconstruction of the surroundings from LiDAR data. However, these models…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

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}…

Most real-world 3D sensors such as LiDARs perform fixed scans of the entire environment, while being decoupled from the recognition system that processes the sensor data. In this work, we propose a method for 3D object recognition using…