相关论文: 4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Su…

LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Current LiDAR odometry, mapping and localization methods leverage point-wise representations of 3D scenes and achieve high accuracy in autonomous driving tasks. However, the space-inefficiency of methods that use point-wise representations…

4D radar has emerged as a critical sensor for autonomous driving, primarily due to its enhanced capabilities in elevation measurement and higher resolution compared to traditional 3D radar. Effective integration of 4D radar with cameras…

Recent embodied intelligence suffers from data scarcity, while conventional simulators lack visual realism. Controllable video generation is emerging as a promising data engine, yet current action-conditioned methods still fall short:…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

Autonomous navigation at high speeds in off-road environments necessitates robots to comprehensively understand their surroundings using onboard sensing only. The extreme conditions posed by the off-road setting can cause degraded camera…

3D occupancy prediction (3DOcc) is a rapidly rising and challenging perception task in the field of autonomous driving. Existing 3D occupancy networks (OccNets) are both computationally heavy and label-hungry. In terms of model complexity,…

In this paper, we describe a strategy for training neural networks for object detection in range images obtained from one type of LiDAR sensor using labeled data from a different type of LiDAR sensor. Additionally, an efficient model for…

3D object detection plays an important role in autonomous driving and other robotics applications. However, these detectors usually require training on large amounts of annotated data that is expensive and time-consuming to collect.…

State-of-the-art 3D object detectors are often trained on massive labeled datasets. However, annotating 3D bounding boxes remains prohibitively expensive and time-consuming, particularly for LiDAR. Instead, recent works demonstrate that…

Road boundaries, or curbs, provide autonomous vehicles with essential information when interpreting road scenes and generating behaviour plans. Although curbs convey important information, they are difficult to detect in complex urban…

Implicit Neural Representations have gained prominence as a powerful framework for capturing complex data modalities, encompassing a wide range from 3D shapes to images and audio. Within the realm of 3D shape representation, Neural Signed…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

Drivable free space information is vital for autonomous vehicles that have to plan evasive maneuvers in real-time. In this paper, we present a new efficient method for environmental free space detection with laser scanner based on 2D…

We propose a methodology for lidar super-resolution with ground vehicles driving on roadways, which relies completely on a driving simulator to enhance, via deep learning, the apparent resolution of a physical lidar. To increase the…

Semantic occupancy perception is essential for autonomous driving, as automated vehicles require a fine-grained perception of the 3D urban structures. However, existing relevant benchmarks lack diversity in urban scenes, and they only…

This work aims to address the challenges in autonomous driving by focusing on the 3D perception of the environment using roadside LiDARs. We design a 3D object detection model that can detect traffic participants in roadside LiDARs in…