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

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…

LiDAR-based 3D object detection plays an essential role in autonomous driving. Existing high-performing 3D object detectors usually build dense feature maps in the backbone network and prediction head. However, the computational costs…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current…

Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…

A main bottleneck of learning-based robotic scene understanding methods is the heavy reliance on extensive annotated training data, which often limits their generalization ability. In LiDAR panoptic segmentation, this challenge becomes even…

Noise is an inevitable aspect of point cloud acquisition, necessitating filtering as a fundamental task within the realm of 3D vision. Existing learning-based filtering methods have shown promising capabilities on small-scale synthetic or…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Shadow removal aims to restore images that are partially degraded by shadows, where the degradation is spatially localized and non-uniform. Unlike general restoration tasks that assume global degradation, shadow removal can leverage…

Point cloud segmentation is crucial for robotic visual perception and environmental understanding, enabling applications such as robotic navigation and 3D reconstruction. However, handling the sparse and unordered nature of point cloud data…

Although Mamba models significantly improve hyperspectral image (HSI) classification, one critical challenge is the difficulty in building the sequence of Mamba tokens efficiently. This paper presents a Sparse Deformable Mamba (SDMamba)…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Semantic scene completion (SSC) is essential for achieving comprehensive perception in autonomous driving systems. However, existing SSC methods often overlook the high deployment costs in real-world applications. Traditional architectures,…

We introduce S2C-3D, a novel sparse-view 3D reconstruction framework for high-fidelity and complete scene reconstruction from as few as six to eight images. Our framework features three components: a specialized diffusion model for…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

This paper studies the problem of Simultaneous Sparse Approximation (SSA). This problem arises in many applications which work with multiple signals maintaining some degree of dependency such as radar and sensor networks. In this paper, we…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

We tackle the challenge of LiDAR-based place recognition, which traditionally depends on costly and time-consuming prior 3D maps. To overcome this, we first construct LiRSI-XA dataset, which encompasses approximately $110,000$ remote…

Whilst the availability of 3D LiDAR point cloud data has significantly grown in recent years, annotation remains expensive and time-consuming, leading to a demand for semi-supervised semantic segmentation methods with application domains…