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

While diffusion models have set a new benchmark for quality in Low-Dose Computed Tomography (LDCT) denoising, their clinical adoption is critically hindered by extreme computational costs, with inference times often exceeding thousands of…

The proposed RMS-FlowNet is a novel end-to-end learning-based architecture for accurate and efficient scene flow estimation which can operate on point clouds of high density. For hierarchical scene flow estimation, the existing methods…

Light Detection And Ranging (LiDAR) has been widely used in autonomous vehicles for perception and localization. However, the cost of a high-resolution LiDAR is still prohibitively expensive, while its low-resolution counterpart is much…

Diffusion Transformers have recently shown remarkable effectiveness in generating high-quality 3D point clouds. However, training voxel-based diffusion models for high-resolution 3D voxels remains prohibitively expensive due to the cubic…

3D point clouds are discrete samples of continuous surfaces which can be used for various applications. However, the lack of true connectivity information, i.e., edge information, makes point cloud recognition challenging. Recent edge-aware…

Distribution-to-distribution (D2D) point cloud registration techniques such as the Normal Distributions Transform (NDT) can align point clouds sampled from unstructured scenes and provide accurate bounds of their own solution error…

Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…

In recent years considerable research in LiDAR semantic segmentation was conducted, introducing several new state of the art models. However, most research focuses on single-scan point clouds, limiting performance especially in long…

Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection challenging. This paper introduces CurbNet, a novel…

3D semantic segmentation is one of the most crucial tasks in driving perception. The ability of a learning-based model to accurately perceive dense 3D surroundings often ensures the safe operation of autonomous vehicles. However, existing…

LiDARs are usually more accurate than cameras in distance measuring. Hence, there is strong interest to apply LiDARs in autonomous driving. Different existing approaches process the rich 3D point clouds for object detection, tracking and…

Point cloud denoising task aims to recover the clean point cloud from the scanned data coupled with different levels or patterns of noise. The recent state-of-the-art methods often train deep neural networks to update the point locations…

In this paper, we present a novel shape reconstruction method leveraging diffusion model to generate 3D sparse point cloud for the object captured in a single RGB image. Recent methods typically leverage global embedding or local…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Diffusion Transformers (DiTs) have emerged as a leading architecture for text-to-image synthesis, producing high-quality and photorealistic images. However, the quadratic scaling properties of the attention in DiTs hinder image generation…

Instead of performing text-conditioned denoising in the image domain, latent diffusion models (LDMs) operate in latent space of a variational autoencoder (VAE), enabling more efficient processing at reduced computational costs. However,…

LiDAR semantic segmentation plays a vital role in autonomous driving. Existing voxel-based methods for LiDAR semantic segmentation apply uniform partition to the 3D LiDAR point cloud to form a structured representation based on…

This work aims to improve the applicability of diffusion models in realistic image restoration. Specifically, we enhance the diffusion model in several aspects such as network architecture, noise level, denoising steps, training image size,…