Lucas Nunes

Lucas Nunes
University of Bonn | Uni Bonn · Institute of Geodesy and Geoinformation (IGG)

Master of Science

About

11
Publications
663
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17
Citations

Publications

Publications (11)
Preprint
Full-text available
A key challenge for autonomous vehicles is to navigate in unseen dynamic environments. Separating moving objects from static ones is essential for navigation, pose estimation, and understanding how other traffic participants are likely to move in the near future. In this work, we tackle the problem of distinguishing 3D LiDAR points that belong to c...
Article
Full-text available
Semantic scene interpretation is essential for autonomous systems to operate in complex scenarios. While deep learning-based methods excel at this task, they rely on vast amounts of labeled data that is tedious to generate and might not cover all relevant classes sufficiently. Self-supervised representation learning has the prospect of reducing the...
Preprint
Full-text available
Understanding the scene is key for autonomously navigating vehicles and the ability to segment the surroundings online into moving and non-moving objects is a central ingredient for this task. Often, deep learning-based methods are used to perform moving object segmentation (MOS). The performance of these networks, however, strongly depends on the...
Article
Scene understanding is critical for autonomous navigation in dynamic environments. Perception tasks in this domain like segmentation and tracking are usually tackled individually. In this paper, we address the problem of 4D panoptic segmentation using LiDAR scans, which requires to assign to each 3D point in a temporal sequence of scans a semantic...
Preprint
Full-text available
Robust perception systems are essential for autonomous vehicle safety. To navigate in a complex urban environment, it is necessary precise sensors with reliable data. The task of understanding the surroundings is hard by itself; for intelligent vehicles, it is even more critical due to the high speed in which the vehicle navigates. To successfully...
Conference Paper
The recent precision increase in image-based depth estimation encourages to use this type of data for mapping. Recent work proposes different approaches to deal with the problem of occlusion generated by different scene perspectives of stereo cameras. However, there is less attention to depth estimation and inpainting for object removal and object...
Conference Paper
Path planning and autonomous navigation are the important challenges in mobile robotics. These are difficult tasks because the robot has to accurately and safely perform autonomous maneuverings. This work presents a methodology to plan the trajectory of a robot in dynamic and complex environments. Also, the changing lanes of one simulated car, whic...