DeepAI AI Chat
Log In Sign Up

PLIN: A Network for Pseudo-LiDAR Point Cloud Interpolation

09/16/2019
by   Haojie Liu, et al.
National University of Defense Technology
2

LiDAR sensors can provide dependable 3D spatial information at a low frequency (around 10Hz) and have been widely applied in the field of autonomous driving and UAV. However, the camera with a higher frequency (around 20Hz) has to be decreased so as to match with LiDAR in a multi-sensor system. In this paper, we propose a novel Pseudo-LiDAR interpolation network (PLIN) to increase the frequency of LiDAR sensors. PLIN can generate temporally and spatially high-quality point cloud sequences to match the high frequency of cameras. To achieve this goal, we design a coarse interpolation stage guided by consecutive sparse depth maps and motion relationship. We also propose a refined interpolation stage guided by the realistic scene. Using this coarse-to-fine cascade structure, our method can progressively perceive multi-modal information and generate accurate intermediate point clouds. To the best of our knowledge, this is the first deep framework for Pseudo-LiDAR point cloud interpolation, which shows appealing applications in navigation systems equipped with LiDAR and cameras. Experimental results demonstrate that PLIN achieves promising performance on the KITTI dataset, significantly outperforming the traditional interpolation method and the state-of-the-art video interpolation technique.

READ FULL TEXT

page 1

page 2

page 5

page 6

06/20/2020

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

Pseudo-LiDAR point cloud interpolation is a novel and challenging task i...
12/18/2020

PointINet: Point Cloud Frame Interpolation Network

LiDAR point cloud streams are usually sparse in time dimension, which is...
06/01/2021

RAI-Net: Range-Adaptive LiDAR Point Cloud Frame Interpolation Network

LiDAR point cloud frame interpolation, which synthesizes the intermediat...
01/31/2023

Lidar Upsampling with Sliced Wasserstein Distance

Lidar became an important component of the perception systems in autonom...
11/22/2022

LiCamGait: Gait Recognition in the Wild by Using LiDAR and Camera Multi-modal Visual Sensors

LiDAR can capture accurate depth information in large-scale scenarios wi...
05/30/2022

LiDAR-aid Inertial Poser: Large-scale Human Motion Capture by Sparse Inertial and LiDAR Sensors

We propose a multi-sensor fusion method for capturing challenging 3D hum...
11/14/2022

LAPTNet: LiDAR-Aided Perspective Transform Network

Semantic grids are a useful representation of the environment around a r...