相关论文: FugSeg: Fast Uncertainty-aware Ground Segmentation…

This paper presents a novel method for ground segmentation in Velodyne point clouds. We propose an encoding of sparse 3D data from the Velodyne sensor suitable for training a convolutional neural network (CNN). This general purpose approach…

Video-based gait recognition has achieved impressive results in constrained scenarios. However, visual cameras neglect human 3D structure information, which limits the feasibility of gait recognition in the 3D wild world. Instead of…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

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,…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

This work proposes a method for depth completion of sparse LiDAR data using a convolutional neural network which can be used to generate semi-dense depth maps and "almost" full 3D point-clouds with significantly lower root mean squared…

With the rapid proliferation of autonomous driving, there has been a heightened focus on the research of lidar-based 3D semantic segmentation and object detection methodologies, aiming to ensure the safety of traffic participants. In recent…

In this paper, we investigate the problem of weakly supervised 3D vehicle detection. Conventional methods for 3D object detection need vast amounts of manually labelled 3D data as supervision signals. However, annotating large datasets…

Off-road image semantic segmentation is challenging due to the presence of uneven terrains, unstructured class boundaries, irregular features and strong textures. These aspects affect the perception of the vehicle from which the information…

High-quality digital terrain models derived from airborne laser scanning (ALS) data are essential for a wide range of geospatial analyses, and their generation typically relies on robust ground filtering (GF) to separate point clouds across…

Semantic segmentation is a fundamental task for agricultural robots to understand the surrounding environments in natural orchards. The recent development of the LiDAR techniques enables the robot to acquire accurate range measurements of…

Robots operating in unstructured environments often require accurate and consistent object-level representations. This typically requires segmenting individual objects from the robot's surroundings. While recent large models such as Segment…

Cloud and cloud shadow segmentation are fundamental processes in optical remote sensing image analysis. Current methods for cloud/shadow identification in geospatial imagery are not as accurate as they should, especially in the presence of…

As lunar exploration missions grow increasingly complex, ensuring safe and autonomous rover-based surface exploration has become one of the key challenges in lunar exploration tasks. In this work, we have developed a lunar surface…

3D LiDAR scene completion from point clouds is a fundamental component of perception systems in autonomous vehicles. Previous methods have predominantly employed diffusion models for high-fidelity reconstruction. However, their multi-step…

Scene understanding is crucial for autonomous robots in dynamic environments for making future state predictions, avoiding collisions, and path planning. Camera and LiDAR perception made tremendous progress in recent years, but face…

Unified segmentation of 3D point clouds is crucial for scene understanding, but is hindered by its sparse structure, limited annotations, and the challenge of distinguishing fine-grained object classes in complex environments. Existing…

Sky/cloud images captured by ground-based cameras (a.k.a. whole sky imagers) are increasingly used nowadays because of their applications in a number of fields, including climate modeling, weather prediction, renewable energy generation,…