相关论文: LiDAR Point Cloud Image-based Generation Using Den…

Accident anticipation is essential for proactive and safe autonomous driving, where even a brief advance warning can enable critical evasive actions. However, two key challenges hinder real-world deployment: (1) noisy or degraded sensory…

Deep 3D point cloud models are sensitive to adversarial attacks, which poses threats to safety-critical applications such as autonomous driving. Robust training and defend-by-denoising are typical strategies for defending adversarial…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Latent Diffusion Models (LDMs) are generally trained at fixed resolutions, limiting their capability when scaling up to high-resolution images. While training-based approaches address this limitation by training on high-resolution datasets,…

While automated vehicles hold the potential to significantly reduce traffic accidents, their perception systems remain vulnerable to sensor degradation caused by adverse weather and environmental occlusions. Collective perception, which…

Lidar point cloud synthesis based on generative models offers a promising solution to augment deep learning pipelines, particularly when real-world data is scarce or lacks diversity. By enabling flexible object manipulation, this synthesis…

In this work, we tackle the task of point cloud denoising through a novel framework that adapts Diffusion Schr\"odinger bridges to points clouds. Unlike previous approaches that predict point-wise displacements from point features or…

We present RadarGen, a diffusion model for synthesizing realistic automotive radar point clouds from multi-view camera imagery. RadarGen adapts efficient image-latent diffusion to the radar domain by representing radar measurements in…

Existing LiDAR-Camera fusion methods have achieved strong results in 3D object detection. To address the sparsity of point clouds, previous approaches typically construct spatial pseudo point clouds via depth completion as auxiliary input…

Diffusion models achieve state-of-the-art image generation but remain computationally costly due to iterative denoising. Latent-space models like Stable Diffusion reduce overhead yet lose fine detail, while retrieval-augmented methods…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

Real-world noise removal is crucial in low-level computer vision. Due to the remarkable generation capabilities of diffusion models, recent attention has shifted towards leveraging diffusion priors for image restoration tasks. However,…

Denoising diffusion probabilistic models have transformed image generation with their impressive fidelity and diversity. We show that they also excel in estimating optical flow and monocular depth, surprisingly, without task-specific…

Training deep learning methods on small time series datasets that also include corrupted samples is challenging. Diffusion models have shown to be effective to generate realistic and synthetic data, and correct corrupted samples through…

The introduction of diffusion models in anomaly detection has paved the way for more effective and accurate image reconstruction in pathologies. However, the current limitations in controlling noise granularity hinder diffusion models'…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

In this work, we present RadCloud, a novel real time framework for directly obtaining higher-resolution lidar-like 2D point clouds from low-resolution radar frames on resource-constrained platforms commonly used in unmanned aerial and…

Realistic vehicle sensor simulation is an important element in developing autonomous driving. As physics-based implementations of visual sensors like LiDAR are complex in practice, data-based approaches promise solutions. Using pairs of…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…