LIDAR
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Related Articles from SNS
RO-LiDAR GeoQuickView: A Web Platform for Exploring Public LiDAR-Derived Elevation Data in Romania
arXiv:2606.08876v1 Announce Type: new Abstract: Public elevation data can support landscape research, environmental interpretation, planning, education, and public engagement, but their practical reuse is often limited by fragmented delivery and specialist processing requirements. This paper presents RO-LiDAR GeoQuickView, an independent, voluntary, and non-commercial Web-GIS initiative for exploring and reusing publicly accessible elevation data in Romania. The platform integrates...
Joint Multi-Camera LiDAR Extrinsic Calibration via Learned Pairwise Initialization and Geometric Refinement
arXiv:2605.31576v1 Announce Type: new Abstract: Most learning-based camera-LiDAR calibration methods treat each camera-LiDAR pair independently, ignoring the rigid geometric coupling in multi-camera platforms. As a result, per-camera estimates may be individually accurate yet inconsistent at the system level. We present a two-stage framework for joint multi-camera LiDAR extrinsic calibration that combines learned pairwise matching with geometric refinement.
ATLAS: A Large-Scale Evaluation Benchmark for Adversarial LiDAR Perception
arXiv:2606.02924v1 Announce Type: new Abstract: Autonomous driving perception is typically evaluated on clean benchmark data, yet real-world deployment requires robustness to rare, structured, and potentially adversarial sensor anomalies. This gap is especially critical for LiDAR, where external actors can physically manipulate the sensing process to induce black-box perception failures without accessing the model. Existing LiDAR benchmarks provide little visibility into this failure mode.
Relative Energy Learning for LiDAR Out-of-Distribution Detection
arXiv:2511.06720v3 Announce Type: replace Abstract: Out-of-distribution (OOD) detection is a critical requirement for reliable autonomous driving, where safety depends on recognizing road obstacles and unexpected objects beyond the training distribution. Despite extensive research on OOD detection in 2D images, direct transfer to 3D LiDAR point clouds has been proven ineffective. Current LiDAR OOD methods struggle to distinguish rare anomalies from common classes, leading to high...
A Decentralized LiDAR-SLAM System with Certifiably Optimal Pose Graph Optimization
Announce Type: replace Abstract: Decentralized multi-robot LiDAR-SLAM is essential for collaborative missions but faces significant challenges in maintaining global consistency. Existing frameworks predominantly rely on local-search optimization or one-time coordinate alignment, which are prone to suboptimal convergence and long-term inconsistency, especially in large-scale or degenerate environments. To address these limitations, this paper presents the first decentralized LiDAR-SLAM system...
Geometry-Aware Fisheye-LiDAR Fusion for Robust 3D Object Detection in Low-Overlap Setups
Announce Type: new Abstract: As autonomous systems expand from capital-intensive robotaxis to cost-sensitive logistics, sensor configurations are increasingly optimized for coverage-per-cost. A prevalent sparse-view setup utilizes dual-fisheye cameras with a roof-mounted LiDAR, introducing severe geometric challenges: extreme radial distortion, minimal overlap, and misalignment between spherical projections and rectilinear grids. BEV fusion algorithms typically force image and point cloud...
MB-Loc: Multi-planar Bird's-eye-view Localization in outdoor LiDAR scenes
Announce Type: new Abstract: Global LiDAR localization is a fundamental task for autonomous navigation systems. Recent methods perform Scene Coordinate Regression (SCR) and achieve superior accuracy over Absolute Pose Regression (APR) solutions by predicting dense 3D world coordinates. However, SCR approaches introduce two major bottlenecks: severe computational inefficiency from processing raw 3D geometries and significant performance degradation under varying sensor viewpoints.
Semantic-weighted ICP for LiDAR Odometry: Class-Aware Residual Reweighting for Robust Scan Registration
Announce Type: new Abstract: LiDAR odometry is a fundamental component of autonomous robotic systems, relying on geometric registration between consecutive point clouds to estimate ego-motion. However, traditional geometric approaches often degrade in dynamic or unstructured environments due to unreliable correspondences caused by moving objects, sparse geometric features, vegetation, and semantically ambiguous structures. Existing works have shown that, some of these limitations can be...
Exploring Easy Boosts for Lidar Semantic Scene Completion
Announce Type: new Abstract: This paper investigates "free lunch" strategies to boost the performance of lidar semantic scene completion (SSC) without requiring complex architectural redesigns. We first demonstrate that endowing input point clouds with semantic pseudo-labels from off-the-shelf segmentors significantly improves the performance of existing architectures. By evaluating these models against an oracle, we establish that high-quality semantic priors are a primary driver of mIoU gains.
Not All Points Are Equal: Uncertainty-Aware 4D LiDAR Scene Synthesis
arXiv:2606.02510v1 Announce Type: new Abstract: Constructing faithful 4D worlds from LiDAR-acquired sequences is crucial for embodied AI, yet current generative frameworks apply uniform modeling capacity across all spatial regions. This ignores that perceptual difficulty varies dramatically within a single scan: distant surfaces, occluded boundaries, and small-scale objects carry far higher uncertainty than well-observed structures. We present U4D, a new framework that explicitly leverages...