相关论文: SN-LiDAR: Semantic Neural Fields for Novel Space-t…

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…

Neural radiance fields (NeRFs) have become a ubiquitous tool for modeling scene appearance and geometry from multiview imagery. Recent work has also begun to explore how to use additional supervision from lidar or depth sensor measurements…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…

LiDAR-based 3D scene perception is a fundamental and important task for autonomous driving. Most state-of-the-art methods on LiDAR-based 3D recognition tasks focus on single frame 3D point cloud data, and the temporal information is ignored…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

Structure from motion (SfM) enables us to reconstruct a scene via casual capture from cameras at different viewpoints, and novel view synthesis (NVS) allows us to render a captured scene from a new viewpoint. Both are hard with casual…

LiDAR-based semantic perception tasks are critical yet challenging for autonomous driving. Due to the motion of objects and static/dynamic occlusion, temporal information plays an essential role in reinforcing perception by enhancing and…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

In this paper the argument is made that for true novel view synthesis of objects, where the object can be synthesized from any viewpoint, an explicit 3D shape representation isdesired. Our method estimates point clouds to capture the…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

Semantic shape completion is a challenging problem in 3D computer vision where the task is to generate a complete 3D shape using a partial 3D shape as input. We propose a learning-based approach to complete incomplete 3D shapes through…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Pseudo-LiDAR point cloud interpolation is a novel and challenging task in the field of autonomous driving, which aims to address the frequency mismatching problem between camera and LiDAR. Previous works represent the 3D spatial motion…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

End-to-end autonomous driving solutions, which directly process multimodal sensory data and output fine-grained control commands, have gradually become a mainstream direction with the development of autonomous driving technology. However,…

Synthesizing a novel view from a single input image is a challenging task. Traditionally, this task was approached by estimating scene depth, warping, and inpainting, with machine learning models enabling parts of the pipeline. More…

A thorough and holistic scene understanding is crucial for autonomous vehicles, where LiDAR semantic segmentation plays an indispensable role. However, most existing methods focus on the network design while neglecting the inherent…

Photorealistic 3D scene reconstruction plays an important role in autonomous driving, enabling the generation of novel data from existing datasets to simulate safety-critical scenarios and expand training data without additional acquisition…