相关论文: Unlocking Generalization Power in LiDAR Point Clou…

Registration of distant outdoor LiDAR point clouds is crucial to extending the 3D vision of collaborative autonomous vehicles, and yet is challenging due to small overlapping area and a huge disparity between observed point densities. In…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Global registration of heterogeneous ground and aerial mapping data is a challenging task. This is especially difficult in disaster response scenarios when we have no prior information on the environment and cannot assume the regular order…

The recognition capabilities of current state-of-the-art 3D models are limited by datasets with a small number of annotated data and a pre-defined set of categories. In its 2D counterpart, recent advances have shown that similar problems…

Vertical beam dropout in spinning LiDAR sensors triggered by hardware aging, dust, snow, fog, or bright reflections removes entire vertical slices from the point cloud and severely degrades 3D perception in autonomous vehicles. This paper…

Using deep learning, 3D autonomous driving semantic segmentation has become a well-studied subject, with methods that can reach very high performance. Nonetheless, because of the limited size of the training datasets, these models cannot…

4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…

This paper proposes a novel framework for implicit multi-camera system calibration utilizing Gaussian Process (GP) regression. Conventional explicit calibration methods are constrained by rigid mathematical models and struggle with complex,…

Domain-generalized LiDAR semantic segmentation (LSS) seeks to train models on source-domain point clouds that generalize reliably to multiple unseen target domains, which is essential for real-world LiDAR applications. However, existing…

Typical LiDAR-based 3D object detection models are trained in a supervised manner with real-world data collection, which is often imbalanced over classes (or long-tailed). To deal with it, augmenting minority-class examples by sampling…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

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…

Large-scale place recognition is a fundamental but challenging task, which plays an increasingly important role in autonomous driving and robotics. Existing methods have achieved acceptable good performance, however, most of them are…

This paper investigates the 3D domain generalization (3DDG) ability of large 3D models based on prevalent prompt learning. Recent works demonstrate the performances of 3D point cloud recognition can be boosted remarkably by…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

Point-cloud-based 3D object detection suffers from performance degradation when encountering data with novel domain gaps. To tackle it, the single-domain generalization (SDG) aims to generalize the detection model trained in a limited…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…