相关论文: TDFANet: Encoding Sequential 4D Radar Point Clouds…

In this work, we present RadCloud, a novel real time framework for directly obtaining higher-resolution lidar-like 2D point clouds from low-resolution radar frames on resource-constrained platforms commonly used in unmanned aerial and…

Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds…

In recent years, approaches based on radar object detection have made significant progress in autonomous driving systems due to their robustness under adverse weather compared to LiDAR. However, the sparsity of radar point clouds poses…

Learning and recognition is a fundamental process performed in many robot operations such as mapping and localization. The majority of approaches share some common characteristics, such as attempting to extract salient features, landmarks…

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…

Scene graphs have proven to be highly effective for various scene understanding tasks due to their compact and explicit representation of relational information. However, current methods often overlook the critical importance of preserving…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

Automotive radar systems have evolved to provide not only range, azimuth and Doppler velocity, but also elevation data. This additional dimension allows for the representation of 4D radar as a 3D point cloud. As a result, existing deep…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

As a core step in structure-from-motion and SLAM, robust feature detection and description under challenging scenarios such as significant viewpoint changes remain unresolved despite their ubiquity. While recent works have identified the…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

LiDAR-based place recognition is one of the key components of SLAM and global localization in autonomous vehicles and robotics applications. With the success of DL approaches in learning useful information from 3D LiDARs, place recognition…

Recent multimodal fusion methods, integrating images with LiDAR point clouds, have shown promise in scene flow estimation. However, the fusion of 4D millimeter wave radar and LiDAR remains unexplored. Unlike LiDAR, radar is cheaper, more…

The generation of realistic LiDAR point clouds plays a crucial role in the development and evaluation of autonomous driving systems. Although recent methods for 3D LiDAR point cloud generation have shown significant improvements, they still…

Safe autonomous agents and mobile robots need fast real time 3D perception, especially for vulnerable road users (VRUs) such as pedestrians. We introduce a new bird's eye view (BEV) encoding, which maps the full 3D LiDAR point cloud into a…

Integrating LiDAR and camera information into Bird's-Eye-View (BEV) representation has emerged as a crucial aspect of 3D object detection in autonomous driving. However, existing methods are susceptible to the inaccurate calibration…