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

In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…

Due to the significant effort required for data collection and annotation in 3D perception tasks, mixed sample data augmentation (MSDA) has been widely studied to generate diverse training samples by mixing existing data. Recently, many…

Existing Transformer-based models for point cloud analysis suffer from quadratic complexity, leading to compromised point cloud resolution and information loss. In contrast, the newly proposed Mamba model, based on state space models (SSM),…

The rapid development of 3D object detection systems for self-driving cars has significantly improved accuracy. However, these systems struggle to generalize across diverse driving environments, which can lead to safety-critical failures in…

Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…

Learning semantically meaningful representations from unstructured 3D point clouds remains a central challenge in computer vision, especially in the absence of large-scale labeled datasets. While masked point modeling (MPM) is widely used…

Transformers have demonstrated impressive results for 3D point cloud semantic segmentation. However, the quadratic complexity of transformer makes computation costs high, limiting the number of points that can be processed simultaneously…

Point cloud streaming is increasingly getting popular, evolving into the norm for interactive service delivery and the future Metaverse. However, the substantial volume of data associated with point clouds presents numerous challenges,…

The clustering of autonomous driving scenario data can substantially benefit the autonomous driving validation and simulation systems by improving the simulation tests' completeness and fidelity. This article proposes a comprehensive data…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

This paper presents an adaptive and intelligent sparse model for digital image sampling and recovery. In the proposed sampler, we adaptively determine the number of required samples for retrieving image based on space-frequency-gradient…

Manually annotating complex scene point cloud datasets is both costly and error-prone. To reduce the reliance on labeled data, a new model called SnapshotNet is proposed as a self-supervised feature learning approach, which directly works…

Realistic scene reconstruction and view synthesis are essential for advancing autonomous driving systems by simulating safety-critical scenarios. 3D Gaussian Splatting excels in real-time rendering and static scene reconstructions but…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Real-world point cloud datasets have made significant contributions to the development of LiDAR-based perception technologies, such as object segmentation for autonomous driving. However, due to the limited number of instances in some rare…

Autonomous driving systems rely on panoptic perception to jointly handle object detection, drivable area segmentation, and lane line segmentation. Although multi-task learning is an effective way to integrate these tasks, its increasing…

Advancing research in fields such as Simultaneous Localization and Mapping (SLAM) and autonomous navigation critically depends on the availability of reliable and reproducible multimodal datasets. While several influential datasets have…

Depth acquisition, based on active illumination, is essential for autonomous and robotic navigation. LiDARs (Light Detection And Ranging) with mechanical, fixed, sampling templates are commonly used in today's autonomous vehicles. An…

A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to…

When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…