相关论文: A New Adversarial Perspective for LiDAR-based 3D O…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

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…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

LiDAR-based 3D object detection has become an essential part of automated driving due to its ability to localize and classify objects precisely in 3D. However, object detectors face a critical challenge when dealing with unknown foreground…

To enhance autonomous driving safety in complex scenarios, various methods have been proposed to simulate LiDAR point cloud data. Nevertheless, these methods often face challenges in producing high-quality, diverse, and controllable…

Modern perception systems in the field of autonomous driving rely on 3D data analysis. LiDAR sensors are frequently used to acquire such data due to their increased resilience to different lighting conditions. Although rotating LiDAR…

Vehicle detection and tracking is a core ingredient for developing autonomous driving applications in urban scenarios. Recent image-based Deep Learning (DL) techniques are obtaining breakthrough results in these perceptive tasks. However,…

This paper explores the use of applying a deep learning approach for 3D object detection to compute the relative position of an Unmanned Aerial Vehicle (UAV) from an Unmanned Ground Vehicle (UGV) equipped with a LiDAR sensor in a GPS-denied…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Understanding driving situations regardless the conditions of the traffic scene is a cornerstone on the path towards autonomous vehicles; however, despite common sensor setups already include complementary devices such as LiDAR or radar,…

Vision-based perception modules are increasingly deployed in many applications, especially autonomous vehicles and intelligent robots. These modules are being used to acquire information about the surroundings and identify obstacles. Hence,…

Training autonomous driving and navigation systems requires large and diverse point cloud datasets that capture complex edge case scenarios from various dynamic urban settings. Acquiring such diverse scenarios from real-world point cloud…

Fusion of LiDAR and RGB data has the potential to enhance outdoor 3D object detection accuracy. To address real-world challenges in outdoor 3D object detection, fusion of LiDAR and RGB input has started gaining traction. However, effective…

LIDAR (light detection and ranging) is an optical remote-sensing technique that measures the distance between sensor and object, and the reflected energy from the object. Over the years, LIDAR data has been used as the primary source of…

LiDAR sensors are used widely in Autonomous Vehicles for better perceiving the environment which enables safer driving decisions. Recent work has demonstrated serious LiDAR spoofing attacks with alarming consequences. In particular,…

This article describes a multi-modal method using simulated Lidar data via ray tracing and image pixel loss with differentiable rendering to optimize an object's position with respect to an observer or some referential objects in a computer…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

Adverse weather conditions can negatively affect LiDAR-based object detectors. In this work, we focus on the phenomenon of vehicle gas exhaust condensation in cold weather conditions. This everyday effect can influence the estimation of…

Advanced Driver-Assistance Systems (ADAS) have successfully integrated learning-based techniques into vehicle perception and decision-making. However, their application in 3D lane detection for effective driving environment perception is…

Autonomous vehicles rely on LiDAR sensors to perceive the environment. Adverse weather conditions like rain, snow, and fog negatively affect these sensors, reducing their reliability by introducing unwanted noise in the measurements. In…