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

Despite its importance, unsupervised domain adaptation (UDA) on LiDAR semantic segmentation is a task that has not received much attention from the research community. Only recently, a completion-based 3D method has been proposed to tackle…

Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…

The growing density of satellites in low-Earth orbit (LEO) presents serious challenges to space sustainability, primarily due to the increased risk of in-orbit collisions. Traditional ground-based tracking systems are constrained by latency…

SLAM based techniques are often adopted for solving the navigation problem for the drones in GPS denied environment. Despite the widespread success of these approaches, they have not yet been fully exploited for automation in a warehouse…

LiDAR point cloud maps are extensively utilized on roads for robot navigation due to their high consistency. However, dense point clouds face challenges of high memory consumption and reduced maintainability for long-term operations. In…

Domain adaptation is crucial in aerial imagery, as the visual representation of these images can significantly vary based on factors such as geographic location, time, and weather conditions. Additionally, high-resolution aerial images…

3D object detection using LiDAR point clouds is a fundamental task in the fields of computer vision, robotics, and autonomous driving. However, existing 3D detectors heavily rely on annotated datasets, which are both time-consuming and…

Fusing Radar and Lidar sensor data can fully utilize their complementary advantages and provide more accurate reconstruction of the surrounding for autonomous driving systems. Surround Radar/Lidar can provide 360-degree view sampling with…

Lidars are depth measuring sensors widely used in autonomous driving and augmented reality. However, the large volume of data produced by lidars can lead to high costs in data storage and transmission. While lidar data can be represented as…

Existing exploration algorithms mainly generate frontiers using random sampling or motion primitive methods within a specific sensor range or search space. However, frontiers generated within constrained spaces lead to back-and-forth…

This work presents a LiDAR-based quadrotor system for slope inspection in dense vegetation environments. Cities like Hong Kong are vulnerable to climate hazards, which often result in landslides. To mitigate the landslide risks, the Civil…

The emerging 4D millimeter-wave radar, measuring the range, azimuth, elevation, and Doppler velocity of objects, is recognized for its cost-effectiveness and robustness in autonomous driving. Nevertheless, its point clouds exhibit…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…

Being able to explore unknown environments is a requirement for fully autonomous robots. Many learning-based methods have been proposed to learn an exploration strategy. In the frontier-based exploration, learning algorithms tend to learn…

This paper presents a compact and accurate representation of 3D scenes that are observed by a LiDAR sensor and a monocular camera. The proposed method is based on the well-established Stixel model originally developed for stereo vision…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…