Related papers: Going Further with Point Pair Features

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

LIDAR point clouds and RGB-images are both extremely essential for 3D object detection. So many state-of-the-art 3D detection algorithms dedicate in fusing these two types of data effectively. However, their fusion methods based on Birds…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

Point cloud registration has seen significant advancements with the application of deep learning techniques. However, existing approaches often overlook the potential of integrating radiometric information from RGB images. This limitation…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

In recent years, parametric representations of point clouds have been widely applied in tasks such as memory-efficient mapping and multi-robot collaboration. Highly adaptive models, like spline surfaces or quadrics, are computationally…

We consider the problem of object recognition in 3D using an ensemble of attribute-based classifiers. We propose two new concepts to improve classification in practical situations, and show their implementation in an approach implemented…

Recently, directly detecting 3D objects from 3D point clouds has received increasing attention. To extract object representation from an irregular point cloud, existing methods usually take a point grouping step to assign the points to an…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

Most autonomous vehicles are equipped with LiDAR sensors and stereo cameras. The former is very accurate but generates sparse data, whereas the latter is dense, has rich texture and color information but difficult to extract robust 3D…

Lidars and cameras play essential roles in autonomous driving, offering complementary information for 3D detection. The state-of-the-art fusion methods integrate them at the feature level, but they mostly rely on the learned soft…

3D object detection within large 3D scenes is challenging not only due to the sparsity and irregularity of 3D point clouds, but also due to both the extreme foreground-background scene imbalance and class imbalance. A common approach is to…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

This paper addresses the issue of detecting point objects in a clutter background and estimating their position by image processing. We are interested in the specific context where the object signature significantly varies with its random…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…