相关论文: SRMambaV2: Biomimetic Attention for Sparse Point C…

In recent years, range-view-based LiDAR point cloud super-resolution techniques attract significant attention as a low-cost method for generating higher-resolution point cloud data. However, due to the sparsity and irregular structure of…

LiDAR sensors are often considered essential for autonomous driving, but high-resolution sensors remain expensive while affordable low-resolution sensors produce sparse point clouds that miss critical details. LiDAR super-resolution…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

The learning and aggregation of multi-scale features are essential in empowering neural networks to capture the fine-grained geometric details in the point cloud upsampling task. Most existing approaches extract multi-scale features from a…

Radar-based perception has gained increasing attention in autonomous driving, yet the inherent sparsity of radars poses challenges. Radar raw data often contains excessive noise, whereas radar point clouds retain only limited information.…

Single-photon sensing has generated great interest as a prominent technique of long-distance and ultra-sensitive imaging, however, it tends to yield sparse and spatially biased point clouds, thus limiting its practical utility. In this…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Point cloud upsampling aims to generate dense and uniformly distributed point sets from sparse point clouds. Existing point cloud upsampling methods typically approach the task as an interpolation problem. They achieve upsampling by…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

Point clouds upsampling is a challenging issue to generate dense and uniform point clouds from the given sparse input. Most existing methods either take the end-to-end supervised learning based manner, where large amounts of pairs of sparse…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Recently, Mamba-based methods have demonstrated impressive performance in point cloud representation learning by leveraging State Space Model (SSM) with the efficient context modeling ability and linear complexity. However, these methods…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

Explicit 3D representations have already become an essential medium for 3D simulation and understanding. However, the most commonly used point cloud and 3D Gaussian Splatting (3DGS) each suffer from non-photorealistic rendering and…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Perception systems play a crucial role in autonomous driving, incorporating multiple sensors and corresponding computer vision algorithms. 3D LiDAR sensors are widely used to capture sparse point clouds of the vehicle's surroundings.…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Two major challenges of 3D LiDAR Panoptic Segmentation (PS) are that point clouds of an object are surface-aggregated and thus hard to model the long-range dependency especially for large instances, and that objects are too close to…