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Mapping LiDAR and Camera Measurements in a Dual Top-View Grid Representation Tailored for Automated Vehicles



Sven Richter , Frank Bieder , Sascha Wirges , Christoph Stiller


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Sensor Data Fusion in Top-View Grid Maps using Evidential Reasoning with Advanced Conflict Resolution



Sven Richter , Frank Bieder , Sascha Wirges , Christoph Stiller


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Fast and Robust Ground Surface Estimation from LIDAR Measurements using Uniform B-Splines



Sascha Wirges , Kevin Rösch , Frank Bieder , Christoph Stiller


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Improving Lidar-Based Semantic Segmentation of Top-View Grid Maps by Learning Features in Complementary Representations



Frank Bieder , Maximilian Link , Simon Romanski , Haohao Hu , Christoph Stiller


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Large-Scale 3D Semantic Reconstruction for Automated Driving Vehicles with Adaptive Truncated Signed Distance Function



Haohao Hu , Hexing Yang , Jian Wu , Xiao Lei , Frank Bieder , Jan-Hendrik Pauls , Christoph Stiller

* 8 pages 

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TEScalib: Targetless Extrinsic Self-Calibration of LiDAR and Stereo Camera for Automated Driving Vehicles with Uncertainty Analysis



Haohao Hu , Fengze Han , Frank Bieder , Jan-Hendrik Pauls , Christoph Stiller

* 8 pages 

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MASS: Multi-Attentional Semantic Segmentation of LiDAR Data for Dense Top-View Understanding



Kunyu Peng , Juncong Fei , Kailun Yang , Alina Roitberg , Jiaming Zhang , Frank Bieder , Philipp Heidenreich , Christoph Stiller , Rainer Stiefelhagen

* 14 pages, 7 figures, 4 tables. Code will be made publicly available at https://github.com/KPeng9510/MASS 

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PillarSegNet: Pillar-based Semantic Grid Map Estimation using Sparse LiDAR Data



Juncong Fei , Kunyu Peng , Philipp Heidenreich , Frank Bieder , Christoph Stiller

* Accepted to present in the 2021 IEEE Intelligent Vehicles Symposium (IV21) 

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Exploiting Multi-Layer Grid Maps for Surround-View Semantic Segmentation of Sparse LiDAR Data



Frank Bieder , Sascha Wirges , Johannes Janosovits , Sven Richter , Zheyuan Wang , Christoph Stiller


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