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The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…
We consider the attributes of a point cloud as samples of a vector-valued volumetric function at discrete positions. To compress the attributes given the positions, we compress the parameters of the volumetric function. We model the…
Due to highly constrained computing power and memory, deploying 3D lidar-based detectors on edge devices equipped in autonomous vehicles and robots poses a crucial challenge. Being a convenient and straightforward model compression…
The recently introduced coder based on region-adaptive hierarchical transform (RAHT) for the compression of point clouds attributes, was shown to have a performance competitive with the state-of-the-art, while being much less complex. In…
LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…
We present a mathematical connection between channel coding and compressed sensing. In particular, we link, on the one hand, \emph{channel coding linear programming decoding (CC-LPD)}, which is a well-known relaxation o maximum-likelihood…
Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…
Light detection and ranging (LiDAR) sensors are becoming available on modern mobile devices and provide a 3D sensing capability. This new capability is beneficial for perceptions in various use cases, but it is challenging for…
Masked autoencoder has been widely explored in point cloud self-supervised learning, whereby the point cloud is generally divided into visible and masked parts. These methods typically include an encoder accepting visible patches…
Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…
Point cloud completion is the task of predicting complete geometry from partial observations using a point set representation for a 3D shape. Previous approaches propose neural networks to directly estimate the whole point cloud through…
Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…
We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…
Point cloud is a promising 3D representation for volumetric streaming in emerging AR/VR applications. Despite recent advances in point cloud compression, decoding and rendering high-quality images from lossy compressed point clouds is still…
Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…
3D Point clouds (PCs) are commonly used to represent 3D scenes. They can have millions of points, making subsequent downstream tasks such as compression and streaming computationally expensive. PC sampling (selecting a subset of points) can…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…
We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…
Developments in three-dimensional real worlds promote the integration of geoinformation and building information models (BIM) known as GeoBIM in urban construction. Light detection and ranging (LiDAR) integrated with global navigation…