相关论文: SHIELD: Spherical-Projection Hybrid-Frontier Integ…

Autonomous exploration is a crucial aspect of robotics that has numerous applications. Most of the existing methods greedily choose goals that maximize immediate reward. This strategy is computationally efficient but insufficient for…

LiDAR and camera are two essential sensors for 3D object detection in autonomous driving. LiDAR provides accurate and reliable 3D geometry information while the camera provides rich texture with color. Despite the increasing popularity of…

Unmanned Aerial Vehicles (UAVs) have gained significant popularity in scene reconstruction. This paper presents SOAR, a LiDAR-Visual heterogeneous multi-UAV system specifically designed for fast autonomous reconstruction of complex…

Autonomous aerial tracking with drones offers vast potential for surveillance, cinematography, and industrial inspection applications. While single-drone tracking systems have been extensively studied, swarm-based target tracking remains…

Autonomous exploration is a fundamental problem for various applications of unmanned aerial vehicles. Existing methods, however, were demonstrated to insufficient exploration rate, due to the lack of efficient global coverage, conservative…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

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…

Camera and 3D LiDAR sensors have become indispensable devices in modern autonomous driving vehicles, where the camera provides the fine-grained texture, color information in 2D space and LiDAR captures more precise and farther-away distance…

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…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

3D object detection using LiDAR-based point cloud data and deep neural networks is essential in autonomous driving technology. However, deploying state-of-the-art models on edge devices present challenges due to high computational demands…

Robust local feature representations are essential for spatial intelligence tasks such as robot navigation and augmented reality. Establishing reliable correspondences requires descriptors that provide both high discriminative power and…

In this study, we present a novel LiDAR-based semantic segmentation framework tailored for autonomous forklifts operating in complex outdoor environments. Central to our approach is the integration of a dual LiDAR system, which combines…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously difficult for conventional sensors like RGB cameras, LiDAR, and…

We propose a new method for fusing a LIDAR point cloud and camera-captured images in the deep convolutional neural network (CNN). The proposed method constructs a new layer called non-homogeneous pooling layer to transform features between…

LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

The ability to accurately detect and localize objects is recognized as being the most important for the perception of self-driving cars. From 2D to 3D object detection, the most difficult is to determine the distance from the ego-vehicle to…

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…