相关论文: La La LiDAR: Large-Scale Layout Generation from Li…

Building accurate maps is a key building block to enable reliable localization, planning, and navigation of autonomous vehicles. We propose a novel approach for building accurate maps of dynamic environments utilizing a sequence of LiDAR…

We present GuidedSceneGen, a text-to-3D generation framework that produces metrically accurate, globally consistent, and semantically interpretable indoor scenes. Unlike prior text-driven methods that often suffer from geometric drift or…

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…

Structure aware graph generation aims to generate graphs that satisfy given topological properties. It has applications in domains such as drug discovery, social network modeling, and knowledge graph construction. Unlike existing methods…

The field of neural rendering has witnessed significant progress with advancements in generative models and differentiable rendering techniques. Though 2D diffusion has achieved success, a unified 3D diffusion pipeline remains unsettled.…

Text-to-3D generation has achieved remarkable success via large-scale text-to-image diffusion models. Nevertheless, there is no paradigm for scaling up the methodology to urban scale. Urban scenes, characterized by numerous elements,…

Mobile robots and autonomous vehicles rely on multi-modal sensor setups to perceive and understand their surroundings. Aside from cameras, LiDAR sensors represent a central component of state-of-the-art perception systems. In addition to…

Recent advancements in 3D object generation using diffusion models have achieved remarkable success, but generating realistic 3D urban scenes remains challenging. Existing methods relying solely on 3D diffusion models tend to suffer a…

Creating large-scale interactive 3D environments is essential for the development of Robotics and Embodied AI research. Current methods, including manual design, procedural generation, diffusion-based scene generation, and large language…

Millimeter-wave radar offers a promising sensing modality for autonomous systems thanks to its robustness in adverse conditions and low cost. However, its utility is significantly limited by the sparsity and low resolution of radar point…

Text-to-image diffusion generative models can generate high quality images at the cost of tedious prompt engineering. Controllability can be improved by introducing layout conditioning, however existing methods lack layout editing ability…

Generative models in Autonomous Driving (AD) enable diverse scene creation, yet existing methods fall short by only capturing a limited range of modalities, restricting the capability of generating controllable scenes for comprehensive…

Diffusion-based generative models have significantly advanced text-to-image synthesis, demonstrating impressive text comprehension and zero-shot generalization. These models refine images from random noise based on textual prompts, with…

We introduce nested diffusion models, an efficient and powerful hierarchical generative framework that substantially enhances the generation quality of diffusion models, particularly for images of complex scenes. Our approach employs a…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

NeRF provides unparalleled fidelity of novel view synthesis: rendering a 3D scene from an arbitrary viewpoint. NeRF requires training on a large number of views that fully cover a scene, which limits its applicability. While these issues…

The generation and simulation of diverse real-world scenes have significant application value in the field of autonomous driving, especially for the corner cases. Recently, researchers have explored employing neural radiance fields or…

Diverse and controllable scenario generation (e.g., wind, solar, load, etc.) is critical for robust power system planning and operation. As AI-based scenario generation methods are becoming the mainstream, existing methods (e.g.,…

Human motion generation is a significant pursuit in generative computer vision with widespread applications in film-making, video games, AR/VR, and human-robot interaction. Current methods mainly utilize either diffusion-based generative…

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…