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

We present a fully interpretable and flexible statistical method for background subtraction in roadside LiDAR data, aimed at enhancing infrastructure-based perception in automated driving. Our approach introduces both a Gaussian…

In the field of 3D perception using 3D LiDAR sensors, ground segmentation is an essential task for various purposes, such as traversable area detection and object recognition. Under these circumstances, several ground segmentation methods…

Point cloud data from 3D LiDAR sensors are one of the most crucial sensor modalities for versatile safety-critical applications such as self-driving vehicles. Since the annotations of point cloud data is an expensive and time-consuming…

LiDAR semantic segmentation plays a pivotal role in 3D scene understanding for edge applications such as autonomous driving. However, significant challenges remain for real-world deployments, particularly for on-device post-deployment…

LiDAR is used in autonomous driving to provide 3D spatial information and enable accurate perception in off-road environments, aiding in obstacle detection, mapping, and path planning. Learning-based LiDAR semantic segmentation utilizes…

The rapid growth of 3D digital content necessitates expandable recognition systems for open-world scenarios. However, existing 3D class-incremental learning methods struggle under extreme data scarcity due to geometric misalignment and…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

We present a boundary-aware domain adaptation model for LiDAR scan full-scene semantic segmentation (LiDARNet). Our model can extract both the domain private features and the domain shared features with a two-branch structure. We embedded…

This paper focuses on the construction of stronger local features and the effective fusion of image and LiDAR data. We adopt different modalities of LiDAR data to generate richer features and present an adaptive and azimuth-aware network to…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

In this paper, we propose LiOn-XA, an unsupervised domain adaptation (UDA) approach that combines LiDAR-Only Cross-Modal (X) learning with Adversarial training for 3D LiDAR point cloud semantic segmentation to bridge the domain gap arising…

Steering estimation is a critical task in autonomous driving, traditionally relying on 2D image-based models. In this work, we explore the advantages of incorporating 3D spatial information through hybrid architectures that combine 3D…

Accurate camera-LiDAR fusion relies on precise extrinsic calibration, which fundamentally depends on establishing reliable cross-modal correspondences under potentially large misalignments. Existing learning-based methods typically project…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Accurate real depth annotations are difficult to acquire, needing the use of special devices such as a LiDAR sensor. Self-supervised methods try to overcome this problem by processing video or stereo sequences, which may not always be…

Graph-based deep learning on LiDAR point clouds encodes geometry through edge features, yet standard implementations use the same encoding at every scale. In tree species classification, where point density varies by orders of magnitude…

LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformative geometric structures in challenging scenarios. This paper…

We consider the problem of source-free unsupervised category-level pose estimation from only RGB images to a target domain without any access to source domain data or 3D annotations during adaptation. Collecting and annotating real-world 3D…

In this work, we shed light on different data augmentation techniques commonly used in Light Detection and Ranging (LiDAR) based 3D Object Detection. For the bulk of our experiments, we utilize the well known PointPillars pipeline and the…

LiDAR-based vision systems are integral for 3D object detection, which is crucial for autonomous navigation. However, they suffer from performance degradation in adverse weather conditions due to the quality deterioration of LiDAR point…