相关论文: End-to-End LiDAR optimization for 3D point cloud r…

Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the…

Recent years have witnessed the rapid progress of perception algorithms on top of LiDAR, a widely adopted sensor for autonomous driving systems. These LiDAR-based solutions are typically data hungry, requiring a large amount of data to be…

Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…

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…

Reliable LiDAR perception requires robustness across sensors, environments, and adverse weather. However, existing datasets rarely provide physically consistent observations of the same scene under varying sensor configurations and weather…

Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…

Object detection using LiDAR point clouds relies on a large amount of human-annotated samples when training the underlying detectors' deep neural networks. However, generating 3D bounding box annotation for a large-scale dataset could be…

Lidar sensors are often used in mobile robots and autonomous vehicles to complement camera, radar and ultrasonic sensors for environment perception. Typically, perception algorithms are trained to only detect moving and static objects as…

Robust single-vessel tracking from fixed coastal platforms is hindered by modality-specific degradations: cameras suffer from illumination and visual clutter, while LiDAR performance drops with range and intermittent returns. We present a…

Perception and localization are essential for autonomous delivery vehicles, mostly estimated from 3D LiDAR sensors due to their precise distance measurement capability. This paper presents a strategy to obtain the real-time pseudo point…

LiDAR is widely used in Simultaneous Localization and Mapping (SLAM) and autonomous driving. The LiDAR odometry is of great importance in multi-sensor fusion. However, in some unstructured environments, the point cloud registration cannot…

Although LiDAR sensors are crucial for autonomous systems due to providing precise depth information, they struggle with capturing fine object details, especially at a distance, due to sparse and non-uniform data. Recent advances introduced…

Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the…

LiDAR Upsampling is a challenging task for the perception systems of robots and autonomous vehicles, due to the sparse and irregular structure of large-scale scene contexts. Recent works propose to solve this problem by converting LiDAR…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

LiDAR sensors are an integral part of modern autonomous vehicles as they provide an accurate, high-resolution 3D representation of the vehicle's surroundings. However, it is computationally difficult to make use of the ever-increasing…

We introduce LiDAR-UDA, a novel two-stage self-training-based Unsupervised Domain Adaptation (UDA) method for LiDAR segmentation. Existing self-training methods use a model trained on labeled source data to generate pseudo labels for target…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…

Safety of the Intended Functionality (SOTIF) addresses sensor performance limitations and deep learning-based object detection insufficiencies to ensure the intended functionality of Automated Driving Systems (ADS). This paper presents a…

The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…