相关论文: Efficient LiDAR Reflectance Compression via Scanni…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Existing LiDAR semantic segmentation models often suffer from decreased accuracy when exposed to adverse weather conditions. Recent methods addressing this issue focus on enhancing training data through weather simulation or universal…

Annotating large-scale LiDAR point clouds for 3D semantic segmentation is costly and time-consuming, which motivates the use of semi-supervised learning (SemiSL). Standard LiDAR SemiSL methods typically adopt a two-step training paradigm,…

Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

LiDARs are widely used for 3D depth reconstruction, but their performance is often limited by inherent hardware constraints that impose trade-offs between range, spatial resolution, and frame rate. Many LiDAR systems typically operate at…

LiDAR point clouds are fundamental to various applications, yet high-precision scans incur substantial storage and transmission overhead. Existing methods typically convert unordered points into hierarchical octree or voxel structures for…

In recent years, the demand of image compression models for machine vision has increased dramatically. However, the training frameworks of image compression still focus on the vision of human, maintaining the excessive perceptual details,…

LiDAR perception is severely limited by the distance-dependent sparsity of distant objects. While diffusion models can recover dense geometry, they suffer from prohibitive latency and physical hallucinations manifesting as ghost points. We…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Increasing the density of the 3D LiDAR point cloud is appealing for many applications in robotics. However, high-density LiDAR sensors are usually costly and still limited to a level of coverage per scan (e.g., 128 channels). Meanwhile,…

Robust scene representation is essential for autonomous systems to safely operate in challenging low-visibility environments. Radar has a clear advantage over cameras and lidars in these conditions due to its resilience to environmental…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

Linear attention significantly reduces the computational complexity of Transformers from quadratic to linear, yet it consistently lags behind softmax-based attention in performance. We identify the root cause of this degradation as the…

Accurate and stable feature matching is critical for computer vision tasks, particularly in applications such as Simultaneous Localization and Mapping (SLAM). While recent learning-based feature matching methods have demonstrated promising…

While standardized codecs like JPEG and HEVC-intra represent the industry standard in image compression, neural Learned Image Compression (LIC) codecs represent a promising alternative. In detail, integrating attention mechanisms from…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Data assimilation is crucial in a wide range of applications, but it often faces challenges such as high computational costs due to data dimensionality and incomplete understanding of underlying mechanisms. To address these challenges, this…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…