自动驾驶

SemanticPOSS: A Point Cloud Dataset with Large Quantity of Dynamic Instances

Yancheng Pan, Biao Gao, Jilin Mei, Sibo Geng, Chengkun Li, Huijing Zhao

专题命中 激光雷达 ：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.RO、cs.CV、eess.IV

Comments submited to IEEE Intelligent Vehicles Symposium(2020)

NormalView: tree species classification from backpack and aerial lidar data using geometric projections

NormalView：利用几何投影从背包和航空激光雷达数据进行树种分类

Juho Korkeala, Jesse Muhojoki, Josef Taher, Klaara Salolahti, Matti Hyyppä, Antero Kukko, Juha Hyyppä

机构 * Finnish Geospatial Research Institute FGI（芬兰地理研究 institute FGI） ； The National Land Survey of Finland（芬兰国家土地调查局） ； Department of Remote Sensing and Photogrammetry（遥感与摄影测量系） ； Department of Built Environment, School of Engineering（环境系，工程学院） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

AI总结 研究利用NormalView方法，通过将几何信息嵌入二维投影并输入YOLOv11网络进行树种分类，在移动和航空激光雷达数据上测试，发现多传感器强度信息有益，该方法仅依赖几何信息，公开了相关数据集，取得较好分类结果。

Comments 25 pages, 10+4 figures

TreeLoc++: Robust 6-DoF LiDAR Localization in Forests with a Compact Digital Forest Inventory

TreeLoc++：利用紧凑数字森林清单在森林中进行稳健的6自由度激光雷达定位

Minwoo Jung, Dongjae Lee, Nived Chebrolu, Haedam Oh, Maurice Fallon, Ayoung Kim

机构 * Department of Mechanical Engineering, Seoul National University, Seoul, South Korea（首尔国立大学机械工程系，韩国首尔） ； Department of Computer Science and Engineering, Indian Institute of Technology Bombay, India（印度班加罗尔印度理工学院计算机科学与工程系） ； Oxford Robotics Institute, Department of Engineering Science, University of Oxford, Oxford, UK（牛津大学奥克斯福德机器人研究所，英国牛津） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

AI总结 研究提出TreeLoc++框架，直接基于数字森林清单定位，以紧凑几何属性编码树干。通过距离直方图等减少误匹配，优化估计姿态，不依赖密集点云数据，实现厘米级精度定位，具长期部署扩展性。

Comments 30 pages, 33 figures and 15 tables

Lidar Scan Registration Robust to Extreme Motions

对极端运动鲁棒的激光雷达扫描配准

Simon-Pierre Deschênes, Dominic Baril, Vladimír Kubelka, Philippe Giguère, François Pomerleau

机构 * Northern Robotics Laboratory（北方机器人实验室） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

AI总结 针对极端运动下点云畸变导致配准失败的问题，提出一种考虑轨迹运动不确定性和环境几何的去畸变方法，在200 m/s^2和800 rad/s^2的峰值加速度下，平移误差降低9.26%，旋转误差降低21.84%。

Comments 8 pages, 8 figures, published in 2021 18th Conference on Robots and Vision (CRV), Burnaby, Canada

Journal ref 2021 18th Conference on Robots and Vision (CRV), 2021, pp. 17-24

APCoTTA: Continual Test-Time Adaptation for Semantic Segmentation of Airborne LiDAR Point Clouds

APCoTTA: 用于空中激光雷达点云语义分割的连续测试时间适应

Yuan Gao, Shaobo Xia, Sheng Nie, Cheng Wang, Xiaohuan Xi, Bisheng Yang

机构 * Aerospace Information Research Institute, Chinese Academy of Sciences（中国科学院航空航天信息研究所） ； International Research Center of Big Data for Sustainable Development Goals（可持续发展目标大数据国际研究中心） ； University of Chinese Academy of Sciences（中国科学院大学） ； The Department of Geomatics Engineering, Changsha University of Science and Technology（长沙理工大学测绘工程系） ； The State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University（武汉大学测绘遥感信息工程国家重点实验室） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

AI总结 本文提出APCoTTA框架，针对空中激光雷达点云语义分割中的持续领域偏移问题，通过梯度驱动层选择、熵一致性损失和随机参数插值机制提升适应性能，并构建两个基准数据集。

Comments 18 pages,12 figures

Journal ref ISPRS Journal of Photogrammetry and Remote Sensing Volume 237, July 2026, Pages 339-354

FLaTEC: Frequency-Disentangled Latent Triplanes for Efficient Compression of LiDAR Point Clouds

FLaTEC：频率解耦的潜在三平面用于激光雷达点云高效压缩

Xiaoge Zhang, Zijie Wu, Mingtao Feng, Zichen Geng, Mehwish Nasim, Saeed Anwar, Ajmal Mian

机构 * University of Western Australia（西澳大学） ； Xidian University（西安电子科技大学） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

AI总结 FLaTEC通过频率解耦的潜在三平面方法，实现激光雷达点云的高效压缩，达到最佳率失真性能，并在多个数据集上超越传统编码器。

Unsupervised deep learning for semantic segmentation of multispectral LiDAR forest point clouds

Lassi Ruoppa, Oona Oinonen, Josef Taher, Matti Lehtomäki, Narges Takhtkeshha, Antero Kukko, Harri Kaartinen, Juha Hyyppä

机构 * Department of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute FGI, The National Land Survey of Finland（遥感与摄影测量系，芬兰地理研究 institute FGI，芬兰国家土地测绘局） ； D Optical Metrology (3DOM) unit, Bruno Kessler Foundation (FBK)（3D光学计量（3DOM）单元，布鲁诺·凯瑟尔基金会（FBK）） ； Department of Built Environment, Aalto University, School of Engineering（环境学院，艾尔托大学，工程学院） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments 30 pages, 10 figures

Journal ref ISPRS Journal of Photogrammetry and Remote Sensing, Volume 228, 2025, pages 694-722

Weakly-Supervised Learning for Tree Instances Segmentation in Airborne Lidar Point Clouds

Swann Emilien Céleste Destouches, Jesse Lahaye, Laurent Valentin Jospin, Jan Skaloud

机构 * Environmental Sensing & Observation Laboratory (ESO), Ecole Polytechnique Fédérale de Lausanne (EPFL), Switzerland（环境感知与观测实验室（ESO），瑞士联邦理工学院（EPFL）） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments 8 pages, 9 figures

Anti-Degeneracy Scheme for Lidar SLAM based on Particle Filter in Geometry Feature-Less Environments

Yanbin Li, Wei Zhang, Zhiguo Zhang, Xiaogang Shi, Ziruo Li, Mingming Zhang, Hongping Xie, Wenzheng Chi

机构 * School of Electronics Engineering, Beijing University of Posts and Telecommunications（北京邮电大学电子工程学院） ； Key Lab of Smart Agriculture Systems, Ministry of Education, China Agricultural University（中国农业大学智能农业系统重点实验室） ； School of Integrated Circuit Science and Engineering, Beihang University（北航集成电路科学与工程学院） ； Co.Ltd Construction Branch, State Grid Jiangsu Electric Power（国网江苏电力建设分公司） ； Robotics and Microsystems Center, School of Mechanical and Electric Engineering, Soochow University（苏州大学机械与电子工程学院机器人与微系统中心） 纠错

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments 8 pages, 9 figures, IEEE Robotics and Automation Letters

Journal ref IEEE Robotics and Automation Letters, vol. 10, no. 7, pp. 6784-6791, July 2025

A Constrained Optimization Approach for Gaussian Splatting from Coarsely-posed Images and Noisy Lidar Point Clouds

Jizong Peng, Tze Ho Elden Tse, Kai Xu, Wenchao Gao, Angela Yao

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Real-Time LiDAR Point Cloud Compression and Transmission for Resource-constrained Robots

Yuhao Cao, Yu Wang, Haoyao Chen

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments ICRA 2025 accepted

TreeLearn: A deep learning method for segmenting individual trees from ground-based LiDAR forest point clouds

Jonathan Henrich, Jan van Delden, Dominik Seidel, Thomas Kneib, Alexander Ecker

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Journal ref Ecological Informatics, Volume 84, 2024, 102888

CCNDF: Curvature Constrained Neural Distance Fields from 3D LiDAR Sequences

Akshit Singh, Karan Bhakuni, Rajendra Nagar

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments ACCV 2024, Oral Presentation

SGLC: Semantic Graph-Guided Coarse-Fine-Refine Full Loop Closing for LiDAR SLAM

Neng Wang, Xieyuanli Chen, Chenghao Shi, Zhiqiang Zheng, Hongshan Yu, Huimin Lu

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments 8 pages, 4 figures

Fusion LiDAR-Inertial-Encoder data for High-Accuracy SLAM

Manh Do Duc, Thanh Nguyen Canh, Minh DoNgoc, Xiem HoangVan

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments In the 2024 International Conference on Mechatronic, Automobile, and Environment Engineering, Hanoi, Vietnam

Imbalance Knowledge-Driven Multi-modal Network for Land-Cover Semantic Segmentation Using Images and LiDAR Point Clouds

Yameng Wang, Yi Wan, Yongjun Zhang, Bin Zhang, Zhi Gao

专题命中 激光雷达 ：LiDAR(title)；分类 eess.IV

Cross-Modality Gait Recognition: Bridging LiDAR and Camera Modalities for Human Identification

Rui Wang, Chuanfu Shen, Manuel J. Marin-Jimenez, George Q. Huang, Shiqi Yu

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Automated forest inventory: analysis of high-density airborne LiDAR point clouds with 3D deep learning

Binbin Xiang, Maciej Wielgosz, Theodora Kontogianni, Torben Peters, Stefano Puliti, Rasmus Astrup, Konrad Schindler

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Multimodal Informative ViT: Information Aggregation and Distribution for Hyperspectral and LiDAR Classification

Jiaqing Zhang, Jie Lei, Weiying Xie, Geng Yang, Daixun Li, Yunsong Li

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Classification of Single Tree Decay Stages from Combined Airborne LiDAR Data and CIR Imagery

Tsz Chung Wong, Abubakar Sani-Mohammed, Jinhong Wang, Puzuo Wang, Wei Yao, Marco Heurich

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Differentiable Registration of Images and LiDAR Point Clouds with VoxelPoint-to-Pixel Matching

Junsheng Zhou, Baorui Ma, Wenyuan Zhang, Yi Fang, Yu-Shen Liu, Zhizhong Han

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments To appear at NeurIPS2023 (Spotlight). Code is available at https://github.com/junshengzhou/VP2P-Match

Using Lidar Intensity for Robot Navigation

Adarsh Jagan Sathyamoorthy, Kasun Weerakoon, Mohamed Elnoor, Dinesh Manocha

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments 9 pages, 7 figures

Point Cloud Registration for LiDAR and Photogrammetric Data: a Critical Synthesis and Performance Analysis on Classic and Deep Learning Algorithms

Ningli Xu, Rongjun Qin, Shuang Song

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments 7 figures

Journal ref ISPRS open journal of photogrammetry and remote sensing, 100032 (2023)

Towards accurate instance segmentation in large-scale LiDAR point clouds

Binbin Xiang, Torben Peters, Theodora Kontogianni, Frawa Vetterli, Stefano Puliti, Rasmus Astrup, Konrad Schindler

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

GD-MAE: Generative Decoder for MAE Pre-training on LiDAR Point Clouds

Honghui Yang, Tong He, Jiaheng Liu, Hua Chen, Boxi Wu, Binbin Lin, Xiaofei He, Wanli Ouyang

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments CVPR2023

Masked Autoencoder for Self-Supervised Pre-training on Lidar Point Clouds

Georg Hess, Johan Jaxing, Elias Svensson, David Hagerman, Christoffer Petersson, Lennart Svensson

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Clouds

Donghao Qiao, Farhana Zulkernine

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Comments Accepted by WACV2023

Density-Aware Convolutional Networks with Context Encoding for Airborne LiDAR Point Cloud Classification

Xiang Li, Mingyang Wang, Congcong Wen, Lingjing Wang, Nan Zhou, Yi Fang

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

LidarAugment: Searching for Scalable 3D LiDAR Data Augmentations

Zhaoqi Leng, Guowang Li, Chenxi Liu, Ekin Dogus Cubuk, Pei Sun, Tong He, Dragomir Anguelov, Mingxing Tan

专题命中 激光雷达 ：LiDAR(title)；分类 cs.CV

Reinforcement Learning for Navigation of Mobile Robot with LiDAR

Inhwan Kim, Sarvar Hussain Nengroo, Dongsoo Har

专题命中 激光雷达 ：LiDAR(title)；分类 cs.RO

Comments 7 pages, 7 figures, Accepted by "5th International Conference on Electronics, Communication and Aerospace Technology (ICECA 2021)"