相关论文: Towards Generalized Range-View LiDAR Segmentation …

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…

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…

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…

LiDAR semantic segmentation (LSS) is a critical task in autonomous driving and has achieved promising progress. However, prior LSS methods are conventionally investigated and evaluated on datasets within the same domain in clear weather.…

This paper describes our approach for the 8th UG2+ Workshop (CVPR 2026) Track~2, which targets semantic segmentation of outdoor scenes degraded by five weather conditions: blur, darkness, snow, haze, and glare. A central challenge we…

In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Under these circumstances, several ground segmentation methods…

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…

Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and…

LiDAR sensors are used in autonomous driving applications to accurately perceive the environment. However, they are affected by adverse weather conditions such as snow, fog, and rain. These everyday phenomena introduce unwanted noise into…

Adverse weather conditions can severely affect the performance of LiDAR sensors by introducing unwanted noise in the measurements. Therefore, differentiating between noise and valid points is crucial for the reliable use of these sensors.…

We present NimbusGS, a unified framework for reconstructing high-quality 3D scenes from degraded multi-view inputs captured under diverse and mixed adverse weather conditions. Unlike existing methods that target specific weather types,…

Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…

LiDAR-based segmentation is essential for reliable perception in autonomous vehicles, yet modern segmentation networks are highly susceptible to adversarial attacks that can compromise safety. Most existing defenses are designed for…

Autonomous vehicles face major perception and navigation challenges in adverse weather such as rain, fog, and snow, which degrade the performance of LiDAR, RADAR, and RGB camera sensors. While each sensor type offers unique strengths, such…

Automotive perception systems are obligated to meet high requirements. While optical sensors such as Camera and Lidar struggle in adverse weather conditions, Radar provides a more robust perception performance, effectively penetrating fog,…

Various adverse weather conditions such as fog and rain pose a significant challenge to autonomous driving (AD) perception tasks like semantic segmentation, object detection, etc. The common domain adaption strategy is to minimize the…

3D LiDAR sensors are indispensable for the robust vision of autonomous mobile robots. However, deploying LiDAR-based perception algorithms often fails due to a domain gap from the training environment, such as inconsistent angular…

Millimeter-wave radar enables robust environment perception in autonomous systems under adverse conditions yet suffers from sparse, noisy point clouds with low angular resolution. Existing diffusion-based radar enhancement methods either…

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…

Automated vehicles require an accurate perception of their surroundings for safe and efficient driving. Lidar-based object detection is a widely used method for environment perception, but its performance is significantly affected by…