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

In this paper, we introduce Cirrus, a new long-range bi-pattern LiDAR public dataset for autonomous driving tasks such as 3D object detection, critical to highway driving and timely decision making. Our platform is equipped with a…

Autonomous driving systems rely heavily on multimodal perception data to understand complex environments. However, the long-tailed distribution of real-world data hinders generalization, especially for rare but safety-critical vehicle…

In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is…

Controllable generation is considered a potentially vital approach to address the challenge of annotating 3D data, and the precision of such controllable generation becomes particularly imperative in the context of data production for…

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…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

This paper targets the challenge of real-time LiDAR re-simulation in dynamic driving scenarios. Recent approaches utilize neural radiance fields combined with the physical modeling of LiDAR sensors to achieve high-fidelity re-simulation…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

This work proposed a 3D autoencoder architecture, named LiLa-Net, which encodes efficient features from real traffic environments, employing only the LiDAR's point clouds. For this purpose, we have real semi-autonomous vehicle, equipped…

Building LiDAR generative models holds promise as powerful data priors for restoration, scene manipulation, and scalable simulation in autonomous mobile robots. In recent years, approaches using diffusion models have emerged, significantly…

Data scarcity is a bottleneck to machine learning-based perception modules, usually tackled by augmenting real data with synthetic data from simulators. Realistic models of the vehicle perception sensors are hard to formulate in closed…

In this paper, we provide an early look at our model for generating terrain that is occluded in the initial lidar scan or out of range of the sensor. As a proof of concept, we show that a transformer based framework is able to be overfit to…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera.…

In autonomous driving scenarios, the collected LiDAR point clouds can be challenged by occlusion and long-range sparsity, limiting the perception of autonomous driving systems. Scene completion methods can infer the missing parts of…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

High-Fidelity 3D scene reconstruction plays a crucial role in autonomous driving by enabling novel data generation from existing datasets. This allows simulating safety-critical scenarios and augmenting training datasets without incurring…