自动驾驶 - arXivDaily 专题

2012.02399 2020-12-07 cs.RO 83%

P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment

Tao Li, Ling Pei, Yan Xiang, Qi Wu, Songpengcheng Xia, Lihao Tao, Wenxian Yu

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

2006.00648 2020-11-24 cs.CV 83%

A Survey on 3D LiDAR Localization for Autonomous Vehicles

Mahdi Elhousni, Xinming Huang

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted by IV2020

2001.01354 2020-11-03 cs.CV 83%

CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description

Deyu Yin, Qian Zhang, Jingbin Liu, Xinlian Liang, Yunsheng Wang, Jyri Maanpää, Hao Ma, Juha Hyyppä, Ruizhi Chen

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 11 pages

2004.02724 2020-10-28 cs.CV 83%

Reconfigurable Voxels: A New Representation for LiDAR-Based Point Clouds

Tai Wang, Xinge Zhu, Dahua Lin

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Conference on Robot Learning (CoRL) 2020

2010.06681 2020-10-15 cs.RO 83%

InsClustering: Instantly Clustering LiDAR Range Measures for Autonomous Vehicle

You Li, Clément Le Bihan, Txomin Pourtau, Thomas Ristorcelli

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

Comments accepted by IEEE ITSC2020

2009.05994 2020-09-15 cs.CV 83%

Semantic Segmentation of Surface from Lidar Point Cloud

Aritra Mukherjee, Sourya Dipta Das, Jasorsi Ghosh, Ananda S. Chowdhury, Sanjoy Kumar Saha

专题命中激光雷达：LiDAR(title,abstract)；trajectory planning(abstract)；分类 cs.CV

Comments Accepted in Multimedia Tools and Applications

2009.00164 2020-09-02 cs.CV 83%

LodoNet: A Deep Neural Network with 2D Keypoint Matchingfor 3D LiDAR Odometry Estimation

Ce Zheng, Yecheng Lyu, Ming Li, Ziming Zhang

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments In 28th ACM International Conference on Multimedia, 9 pages

2007.02438 2020-07-07 eess.IV 83%

DepthNet: Real-Time LiDAR Point Cloud Depth Completion for Autonomous Vehicles

Lin Bai, Yiming Zhao, Mahdi Elhousni, Xinming Huang

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 eess.IV

2006.11481 2020-06-23 cs.CV 83%

Pseudo-LiDAR Point Cloud Interpolation Based on 3D Motion Representation and Spatial Supervision

Haojie Liu, Kang Liao, Chunyu Lin, Yao Zhao, Yulan Guo

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 10 pages, 6 figures

2005.06798 2020-05-15 eess.SP cs.RO 83%

High precision indoor positioning by means of LiDAR

Eduardo Sánchez Morales, Michael Botsch, Bertold Huber, Andrés García Higuera

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

2003.14032 2020-04-28 cs.CV 83%

PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation

Yang Zhang, Zixiang Zhou, Philip David, Xiangyu Yue, Zerong Xi, Boqing Gong, Hassan Foroosh

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted by CVPR 2020; Code at https://github.com/edwardzhou130/PolarSeg

2003.04780 2020-03-11 cs.CV 83%

Off-Road Drivable Area Extraction Using 3D LiDAR Data

Biao Gao, Anran Xu, Yancheng Pan, Xijun Zhao, Wen Yao, Huijing Zhao

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted by IEEE Intelligent Vehicles Symposium (IV2019)

2001.03871 2020-01-14 eess.IV 83%

Linear Model based Geometry Coding for Lidar Acquired Point Clouds

Xiang Zhang, Wen Gao, Shan Liu

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 eess.IV

1910.06727 2019-10-16 cs.CV 83%

Depth Completion from Sparse LiDAR Data with Depth-Normal Constraints

Yan Xu, Xinge Zhu, Jianping Shi, Guofeng Zhang, Hujun Bao, Hongsheng Li

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Accepted to ICCV 2019

1909.07137 2019-09-17 cs.CV 83%

PLIN: A Network for Pseudo-LiDAR Point Cloud Interpolation

Haojie Liu, Kang Liao, Chunyu Lin, Yao Zhao, Yulan Guo

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 7 pages, 5 figures, Submitted to ICRA2020

1906.07675 2019-09-04 cs.CV 83%

Weather Influence and Classification with Automotive Lidar Sensors

Robin Heinzler, Philipp Schindler, Jürgen Seekircher, Werner Ritter, Wilhelm Stork

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments 8 pages, will be published in the IEEE IV 2019 Proceedings

Journal ref 2019 IEEE Intelligent Vehicles Symposium (IV)

1812.09670 2018-12-27 cs.RO 83%

An Efficient L-Shape Fitting Method for Vehicle Pose Detection with 2D LiDAR

Sanqing Qu, Guang Chen, Canbo Ye, Fan Lu, Fa Wang, Zhongcong Xu, Yixin Ge

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

Comments 6 pages, 7 figures, IEEE ROBIO 2018, published

1807.06288 2018-09-26 cs.CV 83%

PointSeg: Real-Time Semantic Segmentation Based on 3D LiDAR Point Cloud

Yuan Wang, Tianyue Shi, Peng Yun, Lei Tai, Ming Liu

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Video link: https://youtu.be/b1BAbcjJ10s code link: https://github.com/ywangeq/PointSeg

1808.09526 2018-08-31 cs.CV stat.ML 83%

Deep Lidar CNN to Understand the Dynamics of Moving Vehicles

Victor Vaquero, Alberto Sanfeliu, Francesc Moreno-Noguer

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

Comments Presented in IEEE ICRA 2018. IEEE Copyrights: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses. (V2 just corrected comments on arxiv submission)

1804.07028 2018-06-07 cs.RO 83%

Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR

Xudong He, Junqiao Zhao, Lu Sun, Yewei Huang, Xinglian Zhang, Jun Li, Chen Ye

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.RO

1801.05038 2018-01-17 cs.CV cs.CG cs.LG 83%

An octree cells occupancy geometric dimensionality descriptor for massive on-server point cloud visualisation and classification

Remi Cura, Julien Perret, Nicolas Paparoditis

专题命中激光雷达：occupancy(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments extracted from article arXiv:1602.06920 ( arXiv:1602.06920 was split into 2 articles because it was to long and to hard to read)

1710.07368 2017-10-23 cs.CV 83%

SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud

Bichen Wu, Alvin Wan, Xiangyu Yue, Kurt Keutzer

专题命中激光雷达：LiDAR(title,abstract)；autonomous driving(abstract)；分类 cs.CV

1705.00451 2017-05-02 cs.CV 83%

Detecting Drivable Area for Self-driving Cars: An Unsupervised Approach

Ziyi Liu, Siyu Yu, Xiao Wang, Nanning Zheng

专题命中激光雷达：self-driving(title,abstract)；LiDAR(abstract)；分类 cs.CV

Comments 6 pages, 5 figures, conference

2404.00815 2024-04-22 cs.CV cs.AI cs.RO 83%

Towards Realistic Scene Generation with LiDAR Diffusion Models

Haoxi Ran, Vitor Guizilini, Yue Wang

专题命中激光雷达：LiDAR(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments CVPR 2024. Project link: https://lidar-diffusion.github.io

2608.02320 2026-08-04 cs.RO cs.CV 新提交 82%

TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks

TravKAN：基于Kolmogorov-Arnold网络的快速可解释非线性可通行性分析

Daniel Fusaro, Simone Mosco, Wanmeng Li, Alberto Pretto

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.RO、cs.CV

AI总结本文提出基于Kolmogorov-Arnold网络的TravKAN框架，结合LiDAR反射率手工特征，在公开数据集上性能优于传统深度模型，兼具可解释性与高效性，适用于安全关键的机器人可通行性分析。

Comments This paper has been accepted for publication at the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2607.05260 2026-07-07 cs.CV cs.AI 新提交 82%

Shifting from Discrete to Continuous Reference Data: QSM-Derived Horizontal Tree Biomass Distribution for Deep Learning Biomass Estimation

从离散参考数据转向连续参考数据：基于定量结构模型(QSM)的水平树木生物量分布用于深度学习生物量估算

Nils Griese, Christoph Kleinn, Nils Nölke

机构 * Department of Forest Inventory and Remote Sensing（森林调查与遥感系）

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.CV、cs.AI

AI总结针对小地块生物量估算的边界效应误差问题，该研究采用QSM生成的连续水平生物量分布训练稀疏3D U-Net，相比传统方法显著提升小地块上的估算精度。

Comments 11 pages, 5 figures

2607.03553 2026-07-07 cs.CV cs.RO 新提交 82%

iVISION-2DCD: A Long-Term Change Detection Dataset for Large-Scale Outdoor Construction Monitoring

iVISION-2DCD：用于大规模户外建筑监测的长期变化检测数据集

Dayou Mao, Yuchen Lin, Ashkan Ebadi, John Zelek, Alexander Wong, Yuhao Chen

机构 * National Research Council Canada（加拿大国家研究委员会）； Vision and Image Processing Research Group, Systems Design Engineering, University of Waterloo（滑铁卢大学系统设计工程系视觉与图像处理研究小组）

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.RO、cs.CV

AI总结研究从检测建筑工地变化监测施工进度，针对跨视角变化检测算法缺开源基准数据集问题，用LiDAR点云生成iVISION-2DCD数据集，提出合成数据生成等方法，为相关领域带来新挑战。

Comments 11 pages, 7 figures, 1 table. Accepted for publication at the 2026 IEEE International Conference on Robotics and Automation (ICRA 2026). Project page: https://danielmao2019.github.io/iVISION-2DCD-dataset.github.io/

2606.19067 2026-06-18 cs.RO cs.CV 新提交 82%

Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots

传感器配置至关重要：四足机器人多模态SLAM的系统评估

Roberto Corlito, Fabian Schmidt, Nils Seibert, Markus Enzweiler, Abhinav Valada, Arne Roennau

机构 * Machine Intelligence and Robotics Lab, Karlsruhe Institute of Technology (KIT)（卡尔斯鲁厄理工学院智能机器人实验室）； Institute for Intelligent Systems, Esslingen University of Applied Sciences（埃森堡应用科学大学智能系统研究所）； Department of Computer Science, University of Freiburg（弗赖堡大学计算机科学系）

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.RO、cs.CV

AI总结针对四足机器人运动中的传感器配置问题，系统评估了视觉、视觉-惯性和LiDAR-视觉-惯性SLAM方法，发现立体相机、全局快门和适当惯性集成能显著提升定位鲁棒性。

2606.11739 2026-06-11 cs.CV cs.AI 新提交 82%

Multi-View In-Cabin Monitoring System for Public Transport Vehicles

公共交通车辆的多视角座舱内监控系统

Evgeny Gorelik, Kenny Dean Karrow, Fikret Sivrikaya, Sahin Albayrak, Christian Baumann

机构 * Technische Universität Berlin（柏林工业大学）； German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心）

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.CV、cs.AI

AI总结提出一个多视角座舱内监控数据集，包含同步RGB-D图像和LiDAR数据，并提供3D人体姿态和边界框标注，支持多视角3D检测模型评估。

Comments Submitted to ICDM2026

1905.05946 2026-06-04 cs.RO cs.CV cs.SY eess.SY 82%

Depth map estimation methodology for detecting free-obstacle navigation areas

用于自由障碍区域检测的深度图估计方法

Sergio Trejo, Karla Martinez, Gerardo Flores

专题命中激光雷达：LiDAR(summary_cn,abstract)；分类 cs.RO、cs.CV

AI总结本文提出了一种基于视觉的方法，利用立体相机和一维LiDAR估计四旋翼导航中的自由障碍区域。通过加权最小二乘滤波器过滤深度图，并通过卡尔曼滤波算法融合信息，确定四旋翼可通过的足够大自由空间区域。整个过程在Jetson TX2嵌入式计算机上用ROS实现。

Journal ref ICUAS'19 The 2019 International Conference on Unmanned Aircraft Systems

1. 激光雷达 3131 篇

P3-LOAM: PPP/LiDAR Loosely Coupled SLAM with Accurate Covariance Estimation and Robust RAIM in Urban Canyon Environment

A Survey on 3D LiDAR Localization for Autonomous Vehicles

CAE-LO: LiDAR Odometry Leveraging Fully Unsupervised Convolutional Auto-Encoder for Interest Point Detection and Feature Description

Reconfigurable Voxels: A New Representation for LiDAR-Based Point Clouds

InsClustering: Instantly Clustering LiDAR Range Measures for Autonomous Vehicle

Semantic Segmentation of Surface from Lidar Point Cloud

LodoNet: A Deep Neural Network with 2D Keypoint Matchingfor 3D LiDAR Odometry Estimation

DepthNet: Real-Time LiDAR Point Cloud Depth Completion for Autonomous Vehicles

Pseudo-LiDAR Point Cloud Interpolation Based on 3D Motion Representation and Spatial Supervision

High precision indoor positioning by means of LiDAR

PolarNet: An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation

Off-Road Drivable Area Extraction Using 3D LiDAR Data

Linear Model based Geometry Coding for Lidar Acquired Point Clouds

Depth Completion from Sparse LiDAR Data with Depth-Normal Constraints

PLIN: A Network for Pseudo-LiDAR Point Cloud Interpolation

Weather Influence and Classification with Automotive Lidar Sensors

An Efficient L-Shape Fitting Method for Vehicle Pose Detection with 2D LiDAR

PointSeg: Real-Time Semantic Segmentation Based on 3D LiDAR Point Cloud

Deep Lidar CNN to Understand the Dynamics of Moving Vehicles

Automatic Vector-based Road Structure Mapping Using Multi-beam LiDAR

An octree cells occupancy geometric dimensionality descriptor for massive on-server point cloud visualisation and classification

SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud

Detecting Drivable Area for Self-driving Cars: An Unsupervised Approach

Towards Realistic Scene Generation with LiDAR Diffusion Models

TravKAN: Fast and Interpretable Nonlinear Traversability Analysis with Kolmogorov-Arnold Networks

Shifting from Discrete to Continuous Reference Data: QSM-Derived Horizontal Tree Biomass Distribution for Deep Learning Biomass Estimation

iVISION-2DCD: A Long-Term Change Detection Dataset for Large-Scale Outdoor Construction Monitoring

Sensor Configuration Matters: A Systematic Evaluation of Multimodal SLAM on Quadruped Robots

Multi-View In-Cabin Monitoring System for Public Transport Vehicles

Depth map estimation methodology for detecting free-obstacle navigation areas