Fiche de ROLDAO JIMENEZ Luis guillermo

Titre : 3D Scene Reconstruction and Completion for Autonomous Driving
Date : 5 juillet 2021
Heure: 10:00
Résumé : In this thesis, we exploit 3D LiDAR sensors to create a 3D model of the surrounding environment for autonomous driving applications. In the first part of the thesis, we study the use of 3-dimensional occupancy grids for multi-frame reconstruction. This is done by exploiting ray-path information to resolve ambiguities in partially occupied cells. Thereafter, we focus on single-frame environment perception by proposing a 3D implicit surface reconstruction algorithm able to deal with heterogeneous density data by employing an adaptive neighborhood strategy. Finally, in the second part, we dive into deep learning applications for semantic scene completion. Given the little consensus found in the literature and the wide variety of methods recently published, we present a deep state of the art of such approaches and introduce our lightweight multiscale semantic completion algorithm for outdoor scenarios.
Lieu : INRIA Paris