相关论文: LiNeXt: Revisiting LiDAR Completion with Efficient…

4D radar super-resolution, which aims to reconstruct sparse and noisy point clouds into dense and geometrically consistent representations, is a foundational problem in autonomous perception. However, existing methods often suffer from high…

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…

The emergence of deep learning techniques has advanced the image segmentation task, especially for medical images. Many neural network models have been introduced in the last decade bringing the automated segmentation accuracy close to…

Accurate and fast scene understanding is one of the challenging task for autonomous driving, which requires to take full advantage of LiDAR point clouds for semantic segmentation. In this paper, we present a \textbf{concise} and…

We introduce Motion2VecSets, a 4D diffusion model for dynamic surface reconstruction from point cloud sequences. While existing state-of-the-art methods have demonstrated success in reconstructing non-rigid objects using neural field…

The generation of realistic LiDAR point clouds plays a crucial role in the development and evaluation of autonomous driving systems. Although recent methods for 3D LiDAR point cloud generation have shown significant improvements, they still…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate regardless of any changes in the scene, such as seasonal…

Semantic Segmentation is a crucial component in the perception systems of many applications, such as robotics and autonomous driving that rely on accurate environmental perception and understanding. In literature, several approaches are…

LiDAR semantic segmentation is crucial for autonomous vehicles and mobile robots, requiring high accuracy and real-time processing, especially on resource-constrained embedded systems. Previous state-of-the-art methods often face a…

Point cloud segmentation is a fundamental task in 3D scene understanding. Its progress is constrained by the high cost and time required for dense 3D annotations, making labeled samples difficult to obtain. Beyond annotation scarcity,…

Current methodologies in point cloud analysis predominantly explore 3D geometries, often achieved through the introduction of intricate learnable geometric extractors in the encoder or by deepening networks with repeated blocks. However,…

Efficient data utilization is crucial for advancing 3D scene understanding in autonomous driving, where reliance on heavily human-annotated LiDAR point clouds challenges fully supervised methods. Addressing this, our study extends into…

3D object detection based on LiDAR point clouds is a crucial module in autonomous driving particularly for long range sensing. Most of the research is focused on achieving higher accuracy and these models are not optimized for deployment on…

We present PointInfinity, an efficient family of point cloud diffusion models. Our core idea is to use a transformer-based architecture with a fixed-size, resolution-invariant latent representation. This enables efficient training with…

This paper presents TE-NeXt, a novel and efficient architecture for Traversability Estimation (TE) from sparse LiDAR point clouds based on a residual convolution block. TE-NeXt block fuses notions of current trends such as attention…

With the rapid advances of autonomous driving, it becomes critical to equip its sensing system with more holistic 3D perception. However, existing works focus on parsing either the objects (e.g. cars and pedestrians) or scenes (e.g. trees…

Recent Diffusion Transformers (e.g., DiT) have demonstrated their powerful effectiveness in generating high-quality 2D images. However, it is still being determined whether the Transformer architecture performs equally well in 3D shape…

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…

Distribution-to-Distribution (D2D) point cloud registration algorithms are fast, interpretable, and perform well in unstructured environments. Unfortunately, existing strategies for predicting solution error for these methods are overly…