相关论文: GridNet-HD: A High-Resolution Multi-Modal Dataset …
We introduce the Shape-Image Multimodal Network (SIM-Net), a novel 2D image classification architecture that integrates 3D point cloud representations inferred directly from RGB images. Our key contribution lies in a pixel-to-point…
High-definition (HD) semantic mapping of complex intersections poses significant challenges for traditional vehicle-based approaches due to occlusions and limited perspectives. This paper introduces a novel camera-LiDAR fusion framework…
Despite the rapid evolution of semantic segmentation for land cover classification in high-resolution remote sensing imagery, integrating multiple data modalities such as Digital Surface Model (DSM), RGB, and Near-infrared (NIR) remains a…
Energy system information valuable for electricity access planning such as the locations and connectivity of electricity transmission and distribution towers, termed the power grid, is often incomplete, outdated, or altogether unavailable.…
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…
Hyperspectral image (HSI) classification is challenging in complex scenes due to spectral ambiguity, spatial heterogeneity, and the strong coupling between material properties and geometric structures. Although LiDAR provides complementary…
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,…
Projecting the point cloud on the 2D spherical range image transforms the LiDAR semantic segmentation to a 2D segmentation task on the range image. However, the LiDAR range image is still naturally different from the regular 2D RGB image;…
LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…
LiDAR-camera fusion methods have shown impressive performance in 3D object detection. Recent advanced multi-modal methods mainly perform global fusion, where image features and point cloud features are fused across the whole scene. Such…
Estimating accurate lane lines in 3D space remains challenging due to their sparse and slim nature. Previous works mainly focused on using images for 3D lane detection, leading to inherent projection error and loss of geometry information.…
A unified and versatile LiDAR segmentation model with strong robustness and generalizability is desirable for safe autonomous driving perception. This work presents M3Net, a one-of-a-kind framework for fulfilling multi-task, multi-dataset,…
We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud…
This technical report presents the 1st place winning solution for the Waymo Open Dataset 3D semantic segmentation challenge 2022. Our network, termed LidarMultiNet, unifies the major LiDAR perception tasks such as 3D semantic segmentation,…
Existing multiple modality fusion methods, such as concatenation, summation, and encoder-decoder-based fusion, have recently been employed to combine modality characteristics of Hyperspectral Image (HSI) and Light Detection And Ranging…
Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…
In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…
Infrared and visible image fusion has gradually proved to be a vital fork in the field of multi-modality imaging technologies. In recent developments, researchers not only focus on the quality of fused images but also evaluate their…
It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…
In this paper, we consider the transformation of laser range measurements into a top-view grid map representation to approach the task of LiDAR-only semantic segmentation. Since the recent publication of the SemanticKITTI data set,…