相关论文: Revisiting Radar Perception With Spectral Point Cl…
4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…
We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…
For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…
Radar sensors are low cost, long-range, and weather-resilient. Therefore, they are widely used for driver assistance functions, and are expected to be crucial for the success of autonomous driving in the future. In many perception tasks…
The millimeter-wave radar sensor maintains stable performance under adverse environmental conditions, making it a promising solution for all-weather perception tasks, such as outdoor mobile robotics. However, the radar point clouds are…
There are various automotive applications that rely on correctly interpreting point cloud data recorded with radar sensors. We present a deep learning approach for histogram-based processing of such point clouds. Compared to existing…
Point clouds obtained from 3D sensors are usually sparse. Existing methods mainly focus on upsampling sparse point clouds in a supervised manner by using dense ground truth point clouds. In this paper, we propose a self-supervised point…
Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…
Millimeter-wave (mmWave) radar has attracted significant attention in robotics and autonomous driving. However, despite the perception stability in harsh environments, the point cloud generated by mmWave radar is relatively sparse while…
Radar is an important sensor for autonomous driving (AD) systems due to its robustness to adverse weather and different lighting conditions. Novel view synthesis using neural radiance fields (NeRFs) has recently received considerable…
Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…
Current learning-based methods predict NeRF or 3D Gaussians from point clouds to achieve photo-realistic rendering but still depend on categorical priors, dense point clouds, or additional refinements. Hence, we introduce a novel point…
Self-supervised representation learning (SSRL) has gained increasing attention in point cloud understanding, in addressing the challenges posed by 3D data scarcity and high annotation costs. This paper presents PCExpert, a novel SSRL…
In industrial automation, radar is a critical sensor in machine perception. However, the angular resolution of radar is inherently limited by the Rayleigh criterion, which depends on both the radar's operating wavelength and the effective…
LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…
4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…
Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…
Acquisition and processing of point clouds (PCs) is a crucial enabler for many emerging applications reliant on 3D spatial data, such as robot navigation, autonomous vehicles, and augmented reality. In most scenarios, PCs acquired by remote…
Point clouds offer an attractive source of information to complement images in neural scene representations, especially when few images are available. Neural rendering methods based on point clouds do exist, but they do not perform well…
Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…