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Contact

Lab visits, graduate study, research collaboration — feel free to get in touch.

Email

kyoshioka47@keio.jp

Kentaro (Ken) Yoshioka

Address

〒223-8522

Yagami Campus Bldg. 23, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, Kanagawa 223-8522, Japan

Students: 23-214, 14-305, 24-318 / PI: 23-216A

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CVPR 2026AcceptedSensor

Ghost-FWL: A Large-Scale Full-Waveform LiDAR Dataset for Ghost Detection and Removal

K. Ikeda, R. Hara, R. Nagata, O. Sako, Z. Ding, T. Kado, I. Fujioka, T. Beppu, M. Isogawa, K. Yoshioka

Overview figure for Ghost-FWL
Figure 1 from the paper

The first large-scale annotated mobile full-waveform LiDAR dataset for ghost artifact detection and removal, with 24,412 frames and 7.5 billion peak-level annotations — 100× more than prior work. Ghost points arise from multi-path reflections off glass and reflective surfaces, degrading 3D mapping and object detection in autonomous driving. Includes FWL-MAE pretraining and transformer-based detection baselines across Ghost, Object, Glass, and Noise categories.