相关论文: Towards Explicit Geometry-Reflectance Collaboratio…

LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…

Collaborative perception (CP) enhances scene understanding through multi-agent information sharing. While LiDAR-centric systems offer precise geometry, high costs and performance degradation in adverse weather necessitate multi-modal…

Image-to-point cloud registration methods typically follow a coarse-to-fine pipeline, extracting patch-level correspondences and refining them into dense pixel-to-point matches. However, in scenes with repetitive patterns, images often lack…

LiDAR semantic segmentation frameworks predominantly use geometry-based features to differentiate objects within a scan. Although these methods excel in scenarios with clear boundaries and distinct shapes, their performance declines in…

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…

Graph generation is a critical task across scientific domains. Existing methods fall broadly into two categories: autoregressive models, which iteratively expand graphs, and one-shot models, such as diffusion, which generate the full graph…

Collaborative filtering (CF) recommendation has been significantly advanced by integrating Graph Neural Networks (GNNs) and Graph Contrastive Learning (GCL). However, (i) random edge perturbations often distort critical structural signals…

We address the problem of estimating realistic, spatially varying reflectance for complex planetary surfaces such as the lunar regolith, which is critical for high-fidelity rendering and vision-based navigation. Existing lunar rendering…

Reflective appearance, especially strong and typically near-field specular reflections, poses a fundamental challenge for accurate surface reconstruction and novel view synthesis. Existing Gaussian splatting methods either fail to model…

Accurately rendering scenes with reflective surfaces remains a significant challenge in novel view synthesis, as existing methods like Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) often misinterpret reflections as physical…

Geometrical interpretations of deep learning models offer insightful perspectives into their underlying mathematical structures. In this work, we introduce a novel approach that leverages differential geometry, particularly concepts from…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

Spatial correlations between different ground objects are an important feature of mining land cover research. Graph Convolutional Networks (GCNs) can effectively capture such spatial feature representations and have demonstrated promising…

Semantic segmentation of outdoor scenes is problematic when there are variations in imaging conditions. It is known that albedo (reflectance) is invariant to all kinds of illumination effects. Thus, using reflectance images for semantic…

Robust matching of side-scan sonar imagery remains a fundamental challenge in seafloor mapping due to view-dependent backscatter, shadows, and geometric distortion. This paper proposes a novel matching framework that combines physical…

This work studies gradient coding (GC) in the context of distributed training problems with unreliable communication. We propose cooperative GC (CoGC), a novel gradient-sharing-based GC framework that leverages cooperative communication…

We present a fully interpretable and flexible statistical method for background subtraction in roadside LiDAR data, aimed at enhancing infrastructure-based perception in automated driving. Our approach introduces both a Gaussian…

Recent 3D Gaussian Splatting (3DGS) methods have demonstrated the feasibility of self-driving scene reconstruction and novel view synthesis. However, most existing methods either rely solely on cameras or use LiDAR only for Gaussian…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…