相关论文: Source-Only Cross-Weather LiDAR via Geometry-Aware…

Existing LiDAR semantic segmentation methods often struggle with performance declines in adverse weather conditions. Previous work has addressed this issue by simulating adverse weather or employing universal data augmentation during…

Robust 3D object detection in adverse weather is highly challenging due to the varying reliability of different sensors. While existing LiDAR-4D radar fusion methods improve robustness, they predominantly rely on fixed or weakly adaptive…

Adverse weather conditions significantly degrade the performance of LiDAR point cloud semantic segmentation networks by introducing large distribution shifts. Existing augmentation-based methods attempt to enhance robustness by simulating…

Integrating different representations from complementary sensing modalities is crucial for robust scene interpretation in autonomous driving. While deep learning architectures that fuse vision and range data for 2D object detection have…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Various adverse weather conditions such as fog and rain pose a significant challenge to autonomous driving (AD) perception tasks like semantic segmentation, object detection, etc. The common domain adaption strategy is to minimize the…

Domain-generalized LiDAR semantic segmentation (LSS) seeks to train models on source-domain point clouds that generalize reliably to multiple unseen target domains, which is essential for real-world LiDAR applications. However, existing…

In autonomous driving, a LiDAR-based object detector should perform reliably at different geographic locations and under various weather conditions. While recent 3D detection research focuses on improving performance within a single domain,…

High-quality surface normal can help improve geometry estimation in problems faced by autonomous vehicles, such as collision avoidance and occlusion inference. While a considerable volume of literature focuses on densely scanned indoor…

3D object detectors based only on LiDAR point clouds hold the state-of-the-art on modern street-view benchmarks. However, LiDAR-based detectors poorly generalize across domains due to domain shift. In the case of LiDAR, in fact, domain…

RT-DETRs have shown strong performance across various computer vision tasks but are known to degrade under challenging weather conditions such as fog. In this work, we investigate three novel approaches to enhance RT-DETR robustness in…

Lidar-based object detectors are critical parts of the 3D perception pipeline in autonomous navigation systems such as self-driving cars. However, they are known to be sensitive to adverse weather conditions such as rain, snow and fog due…

LiDAR segmentation has emerged as an important task to enrich scene perception and understanding. Range-view-based methods have gained popularity due to their high computational efficiency and compatibility with real-time deployment.…

Dominant paradigms for 4D LiDAR panoptic segmentation are usually required to train deep neural networks with large superimposed point clouds or design dedicated modules for instance association. However, these approaches perform redundant…

Accurate 3D object detection is vital for automated driving. While lidar sensors are well suited for this task, they are expensive and have limitations in adverse weather conditions. 3+1D imaging radar sensors offer a cost-effective, robust…

Recent advances in 3D Gaussian Splatting (3DGS) have enabled real-time, photorealistic scene reconstruction. However, conventional 3DGS frameworks typically rely on sparse point clouds derived from Structure-from-Motion (SfM), which…

Lidar sensors are frequently used in environment perception for autonomous vehicles and mobile robotics to complement camera, radar, and ultrasonic sensors. Adverse weather conditions are significantly impacting the performance of…

LiDAR-based 3D object detectors have been largely utilized in various applications, including autonomous vehicles or mobile robots. However, LiDAR-based detectors often fail to adapt well to target domains with different sensor…

Semantic segmentation metrics for 3D point clouds, such as mean Intersection over Union (mIoU) and Overall Accuracy (OA), present two key limitations in the context of aerial LiDAR data. First, they treat all misclassifications equally…

Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…