相关论文: A Graph Attention Network-Based Framework for Reco…

Reconstructing accurate 3D surfaces for street-view scenarios is crucial for applications such as digital entertainment and autonomous driving simulation. However, existing street-view datasets, including KITTI, Waymo, and nuScenes, only…

In this paper, we developed the solution of roadside LiDAR object detection using a combination of two unsupervised learning algorithms. The 3D point clouds are firstly converted into spherical coordinates and filled into the…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

Large-scale 3D reconstruction is critical in the field of robotics, and the potential of 3D Gaussian Splatting (3DGS) for achieving accurate object-level reconstruction has been demonstrated. However, ensuring geometric accuracy in outdoor…

Reconstruction-based methods have demonstrated very promising results for 3D anomaly detection. However, these methods face great challenges in handling high-precision point clouds due to the large scale and complex structure. In this…

Light detection and ranging (Lidar) data can be used to capture the depth and intensity profile of a 3D scene. This modality relies on constructing, for each pixel, a histogram of time delays between emitted light pulses and detected photon…

Although neural radiance fields (NeRFs) have achieved triumphs in image novel view synthesis (NVS), LiDAR NVS remains largely unexplored. Previous LiDAR NVS methods employ a simple shift from image NVS methods while ignoring the dynamic…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

LiDAR depth completion is a task that predicts depth values for every pixel on the corresponding camera frame, although only sparse LiDAR points are available. Most of the existing state-of-the-art solutions are based on deep neural…

This paper proposes a pose-graph attentional graph neural network, called P-GAT, which compares (key)nodes between sequential and non-sequential sub-graphs for place recognition tasks as opposed to a common frame-to-frame retrieval problem…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Graph Neural Networks (GNNs) have proved to be an effective representation learning framework for graph-structured data, and have achieved state-of-the-art performance on many practical predictive tasks, such as node classification, link…

Graph Attention Networks (GATs) have been intensively studied and widely used in graph data learning tasks. Existing GATs generally adopt the self-attention mechanism to conduct graph edge attention learning, requiring expensive…

Online continual learning for image classification is crucial for models to adapt to new data while retaining knowledge of previously learned tasks. This capability is essential to address real-world challenges involving dynamic…

Deep learning offers a promising avenue for automating many recognition tasks in fields such as medicine and forensics. However, the black-box nature of these models hinders their adoption in high-stakes applications where trust and…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

We present an efficient, elastic 3D LiDAR reconstruction framework which can reconstruct up to maximum LiDAR ranges (60 m) at multiple frames per second, thus enabling robot exploration in large-scale environments. Our approach only…

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…

With the rise of IoT-based botnet attacks, researchers have explored various learning models for detection, including traditional machine learning, deep learning, and hybrid approaches. A key advancement involves deploying attention…

Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…