Within the past few decades, the goal of fully-autonomous vehicles has moved from a thought experiment to a potential reality thanks to advances in machine intelligence. One of the key challenges to still be overcome is the building of robotic perception systems which can achieve performance on-par with or surpassing that of humans. Currently, most autonomous driving researchers rely on several different modalities for collecting visual information, namely lidar, radar, and cameras. Although relying on lidar for perception has the drawback of high cost, maturing lidar technology has opened...
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