相关论文: LiDAR-EDIT: LiDAR Data Generation by Editing the O…

LiDAR-based perception in autonomous systems is constrained by fixed vertical beam resolution and further compromised by beam dropout resulting from environmental occlusions. This paper introduces SuperiorGAT, a graph attention-based…

Current methods for 2D and 3D object understanding struggle with severe occlusions in busy urban environments, partly due to the lack of large-scale labeled ground-truth annotations for learning occlusion. In this work, we introduce a novel…

LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

We propose CAL (Complete Anything in Lidar) for Lidar-based shape-completion in-the-wild. This is closely related to Lidar-based semantic/panoptic scene completion. However, contemporary methods can only complete and recognize objects from…

The current autonomous driving architecture places a heavy burden in signal processing for the graphics processing units (GPUs) in the car. This directly translates into battery drain and lower energy efficiency, crucial factors in electric…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

We present DrivingGaussian++, an efficient and effective framework for realistic reconstructing and controllable editing of surrounding dynamic autonomous driving scenes. DrivingGaussian++ models the static background using incremental 3D…

LiDAR is crucial for robust 3D scene perception in autonomous driving. LiDAR perception has the largest body of literature after camera perception. However, multi-task learning across tasks like detection, segmentation, and motion…

Models for egocentric 3D and 4D reconstruction, including few-shot interpolation and extrapolation settings, can benefit from having images from exocentric viewpoints as supervision signals. No existing dataset provides the necessary…

Lidars are depth measuring sensors widely used in autonomous driving and augmented reality. However, the large volume of data produced by lidars can lead to high costs in data storage and transmission. While lidar data can be represented as…

LiDAR datasets for autonomous driving exhibit biases in properties such as point cloud density, range, and object dimensions. As a result, object detection networks trained and evaluated in different environments often experience…

In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

Accurate depth information is essential for many computer vision applications. Yet, no available dataset recording method allows for fully dense accurate depth estimation in a large scale dynamic environment. In this paper, we introduce…

The goal of this work is to perform 3D reconstruction and novel view synthesis from data captured by scanning platforms commonly deployed for world mapping in urban outdoor environments (e.g., Street View). Given a sequence of posed RGB…

We present a neural rendering framework for simultaneous view synthesis and appearance editing of a scene from multi-view images captured under known environment illumination. Existing approaches either achieve view synthesis alone or view…

This work studies the semantic segmentation of 3D LiDAR data in dynamic scenes for autonomous driving applications. A system of semantic segmentation using 3D LiDAR data, including range image segmentation, sample generation, inter-frame…

Diffusion Models (DMs) have achieved State-Of-The-Art (SOTA) results in the Lidar point cloud generation task, benefiting from their stable training and iterative refinement during sampling. However, DMs often fail to realistically model…

We propose a lifelong 3D mapping framework that is modular, cloud-native by design and more importantly, works for both hand-held and robot-mounted 3D LiDAR mapping systems. Our proposed framework comprises of dynamic point removal,…