相关论文: DRUM: Diffusion-based Raydrop-aware Unpaired Mappi…

Semantic segmentation of 3D LiDAR point clouds, essential for autonomous driving and infrastructure management, is best achieved by supervised learning, which demands extensive annotated datasets and faces the problem of domain shifts. We…

Leveraging recent diffusion models, LiDAR-based large-scale 3D scene generation has achieved great success. While recent voxel-based approaches can generate both geometric structures and semantic labels, existing range-view methods are…

Diffusion-based image super-resolution (SR) methods have demonstrated remarkable performance. Recent advancements have introduced deterministic sampling processes that reduce inference from 15 iterative steps to a single step, thereby…

Data is a fundamental building block for LiDAR perception systems. Unfortunately, real-world data collection and annotation is extremely costly & laborious. Recently, real data based LiDAR simulators have shown tremendous potential to…

Autonomous driving demands high-quality LiDAR data, yet the cost of physical LiDAR sensors presents a significant scaling-up challenge. While recent efforts have explored deep generative models to address this issue, they often consume…

Segmentation models such as Segment Anything Model (SAM) and SAM2 achieve strong prompt-driven zero-shot performance. However, their training on natural images limits domain transfer to medical data. Consequently, accurate segmentation…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

In the past, computer vision systems for digitized documents could rely on systematically captured, high-quality scans. Today, transactions involving digital documents are more likely to start as mobile phone photo uploads taken by…

This paper presents a fully unsupervised deep change detection approach for mobile robots with 3D LiDAR. In unstructured environments, it is infeasible to define a closed set of semantic classes. Instead, semantic segmentation is…

In this paper, we propose the LiDAR Distillation to bridge the domain gap induced by different LiDAR beams for 3D object detection. In many real-world applications, the LiDAR points used by mass-produced robots and vehicles usually have…

Generative foundation models like Stable Diffusion comprise a diverse spectrum of knowledge in computer vision with the potential for transfer learning, e.g., via generating data to train student models for downstream tasks. This could…

Object recognition, commonly performed by a camera, is a fundamental requirement for robots to complete complex tasks. Some tasks require recognizing objects far from the robot's camera. A challenging example is Ultra-Range Gesture…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Generative modeling of 3D LiDAR data is an emerging task with promising applications for autonomous mobile robots, such as scalable simulation, scene manipulation, and sparse-to-dense completion of LiDAR point clouds. While existing…

Diffusion models have recently achieved remarkable performance in image super-resolution (SR), but their high computational cost limits practical deployment in remote sensing applications. To address this issue, we propose SlimDiffSR, a…

Cloud segmentation plays a crucial role in image analysis for climate modeling. Manually labeling the training data for cloud segmentation is time-consuming and error-prone. We explore to train segmentation networks with synthetic data due…

Information retrieval (IR) in dynamic data streams is a crucial task, as shifts in data distribution degrade the performance of AI-powered IR systems. To mitigate this issue, memory-based continual learning has been widely adopted for IR.…

We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…

Building LiDAR generative models holds promise as powerful data priors for restoration, scene manipulation, and scalable simulation in autonomous mobile robots. In recent years, approaches using diffusion models have emerged, significantly…

Segmenting unseen objects is a crucial ability for the robot since it may encounter new environments during the operation. Recently, a popular solution is leveraging RGB-D features of large-scale synthetic data and directly applying the…