如图2所示,我们的Text2LiDAR具体计算流程如下: 首先,我们对正常激光雷达点云添加噪声得到了扰动的雷达点云(Perturbed LiDAR)输入,然后将其送进等距圆柱投影Transformer中进行无条件的噪声预测或在文本信息引导下的噪声预测,经过处理后的输出特征再送入频率调制器(Frequnency Modulator)用于自适应频率调制,最后输出就得到了...
Achieving high-quality and controllable LiDAR data generation is urgently needed, controlling with text is a common practice, but there is little research in this field. To this end, we propose Text2LiDAR, the first efficient, diverse, and text-controllable LiDAR data generation model. ...
To this end, we propose Text2LiDAR, the first efficient, diverse, and text-controllable LiDAR data generation model. Specifically, we design an equirectangular transformer architecture, utilizing the designed equirectangular attention to capture LiDAR features in a manner with data characteristics. Then,...
We have investigated the potential of the point-line-polygon upscaling framework integrating the UAV-LiDAR strip data, Sentinel-1 and Sentinel-2 imagery for estimating the coniferous forests AGB in the case study of the Wangyedian forest farm in North China. The UAV-LiDAR strip data acted as a...
Spaceborne lidar systems provide a unique opportunity to monitor changes in the vertical structure of forests. NASA’s Ice, Cloud and Land Elevation Satellites, ICESat-1 for the period 2003 to 2009, and ICESat-2 (available since 2018), have collected elevation data over the Earth’s surface ...
1.无论什么场景以及被探测目标,高分辨率带来的感知提升是显而易见的。举个简单NGP栗子:夜晚前方150m两个自行车目标间距很近,毫米波是很容易判断为一个目标,夜晚摄像头也受限。这个时候激光雷达能带来明显的感知提升。另外预埋硬件后期OTA也是当前大家对功能应用的主流方式2.你也提到了相对。拿车顶方案和前保方案进行...
代码地址:https://github.com/wuyang98/Text2LiDAR 一句话概括 本文探索了一种文本引导激光雷达点云生成的Transformer框架,以序列到序列的方式,利用等距圆柱投影注意力机制在KITTI-360和nuScenes数据集上取得了优异的无条件生成和文本引导生成点云结果。 图1 本文方法与此前方法概要对比,(a)为此前以U-Net为代表的卷...