相关论文: Geometry-Aware Cross Modal Alignment for Light Fie…

Semantic segmentation algorithms that can robustly segment objects across multiple camera viewpoints are crucial for assuring navigation and safety in emerging applications such as autonomous driving. Existing algorithms treat each image in…

Multi-modal depth estimation is one of the key challenges for endowing autonomous machines with robust robotic perception capabilities. There have been outstanding advances in the development of uni-modal depth estimation techniques based…

In this work, a deep learning approach has been developed to carry out road detection by fusing LIDAR point clouds and camera images. An unstructured and sparse point cloud is first projected onto the camera image plane and then upsampled…

High-definition (HD) semantic mapping of complex intersections poses significant challenges for traditional vehicle-based approaches due to occlusions and limited perspectives. This paper introduces a novel camera-LiDAR fusion framework…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

This work investigates learning pixel-wise semantic image segmentation in urban scenes without any manual annotation, just from the raw non-curated data collected by cars which, equipped with cameras and LiDAR sensors, drive around a city.…

Although multiview fusion has demonstrated potential in LiDAR segmentation, its dependence on computationally intensive point-based interactions, arising from the lack of fixed correspondences between views such as range view and Bird's-Eye…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

The rise of autonomous vehicles has significantly increased the demand for robust 3D object detection systems. While cameras and LiDAR sensors each offer unique advantages--cameras provide rich texture information and LiDAR offers precise…

3D pedestrian detection is a challenging task in automated driving because pedestrians are relatively small, frequently occluded and easily confused with narrow vertical objects. LiDAR and camera are two commonly used sensor modalities for…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

Large-scale point cloud semantic segmentation is an important task in 3D computer vision, which is widely applied in autonomous driving, robotics, and virtual reality. Current large-scale point cloud semantic segmentation methods usually…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

Multi-modal medical image fusion is traditionally optimized for human visual perception, aiming to maximize generic contrast and structural fidelity. However, when these visually pleasing fused images are deployed in automated clinical…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

In LiDAR-based environment perception systems, ground segmentation is a key preprocessing step supporting various applications such as mapping and navigation. Although extensively studied, problems such as reflection noise and isolated…

Neural implicit fields have been a de facto standard in novel view synthesis. Recently, there exist some methods exploring fusing multiple modalities within a single field, aiming to share implicit features from different modalities to…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

Foreground segmentation is an essential task in the field of image understanding. Under unsupervised conditions, different images and instances always have variable expressions, which make it difficult to achieve stable segmentation…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…