相关论文: LiCAR: pseudo-RGB LiDAR image for CAR segmentation

Perception technologies in Autonomous Driving are experiencing their golden age due to the advances in Deep Learning. Yet, most of these systems rely on the semantically rich information of RGB images. Deep Learning solutions applied to the…

Spiking Neural Networks are a recent and new neural network design approach that promises tremendous improvements in power efficiency, computation efficiency, and processing latency. They do so by using asynchronous spike-based data flow,…

Vehicle localization using roadside LiDARs can provide centimeter-level accuracy for cloud-controlled vehicles while simultaneously serving multiple vehicles, enhanc-ing safety and efficiency. While most existing studies rely on repetitive…

LiDAR (laser based radar) systems are a major part of many new real-world interactive systems, one of the most notable being autonomous cars. The current market LiDAR systems are limited by detector sensitivity: when output power is at…

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…

Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles. However, most semantic datasets and algorithms used for LiDAR sequence segmentation operate on $360^\circ$ frames, causing an acquisition latency incompatible with…

Curbs are one of the essential elements of urban and highway traffic environments. Robust curb detection provides road structure information for motion planning in an autonomous driving system. Commonly, video cameras and 3D LiDARs are…

In this paper, we focus on fine-grained recognition of vehicles mainly in traffic surveillance applications. We propose an approach that is orthogonal to recent advancements in fine-grained recognition (automatic part discovery and bilinear…

Detecting small obstacles on the road is critical for autonomous driving. In this paper, we present a method to reliably detect such obstacles through a multi-modal framework of sparse LiDAR(VLP-16) and Monocular vision. LiDAR is employed…

Object detection algorithms for Lidar data have seen numerous publications in recent years, reporting good results on dataset benchmarks oriented towards automotive requirements. Nevertheless, many of these are not deployable to embedded…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

Moving object detection and segmentation is an essential task in the Autonomous Driving pipeline. Detecting and isolating static and moving components of a vehicle's surroundings are particularly crucial in path planning and localization…

Modern autonomous vehicles rely heavily on mechanical LiDARs for perception. Current perception methods generally require 360{\deg} point clouds, collected sequentially as the LiDAR scans the azimuth and acquires consecutive wedge-shaped…

4D panoptic segmentation is a challenging but practically useful task that requires every point in a LiDAR point-cloud sequence to be assigned a semantic class label, and individual objects to be segmented and tracked over time. Existing…

This paper presents a Light Detection and Ranging (LiDAR) data set that targets complex urban environments. Urban environments with high-rise buildings and congested traffic pose a significant challenge for many robotics applications. The…

Point cloud datasets for perception tasks in the context of autonomous driving often rely on high resolution 64-layer Light Detection and Ranging (LIDAR) scanners. They are expensive to deploy on real-world autonomous driving sensor…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

Deep learning applications on LiDAR data suffer from a strong domain gap when applied to different sensors or tasks. In order for these methods to obtain similar accuracy on different data in comparison to values reported on public…

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…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…