Related papers: Polylidar -- Polygons from Triangular Meshes
In this paper, we present a novel method called PolyTrack for fast multi-object tracking and segmentation using bounding polygons. Polytrack detects objects by producing heatmaps of their center keypoint. For each of them, a rough…
Vehicle pose estimation with LiDAR is essential in the perception technology of autonomous driving. However, due to incomplete observation measurements and sparsity of the LiDAR point cloud, it is challenging to achieve satisfactory pose…
Motivated by applications in robotics and computer vision, we study problems related to spatial reasoning of a 3D environment using sublevel sets of polynomials. These include: tightly containing a cloud of points (e.g., representing an…
Acceleration of algorithms is becoming a crucial problem, if larger data sets are to be processed. Evaluation of algorithms is mostly done by using computational geometry approach and evaluation of computational complexity. However in…
Decomposing a point cloud into its components and extracting curve skeletons from point clouds are two related problems. Decomposition of a shape into its components is often obtained as a byproduct of skeleton extraction. In this work, we…
A method for extracting multiscale geometric features from a data cloud is proposed and analyzed. The basic idea is to map each pair of data points into a real-valued feature function defined on $[0,1]$. The construction of these feature…
Recent works recognized lidars as an inherently streaming data source and showed that the end-to-end latency of lidar perception models can be reduced significantly by operating on wedge-shaped point cloud sectors rather then the full point…
Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local…
We present a simple and efficient acceleration technique for an arbitrary method for computing the Euclidean projection of a point onto a convex polytope, defined as the convex hull of a finite number of points, in the case when the number…
Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…
In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…
Recent probabilistic methods for 3D triangular meshes capture diverse shapes by differentiable mesh connectivity, but face high computational costs with increased shape details. We introduce a new differentiable mesh processing method that…
Automatic segmentation of an image to identify all meaningful parts is one of the most challenging as well as useful tasks in a number of application areas. This is widely studied. Selective segmentation, less studied, aims to use limited…
Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…
This note wants to explain how to obtain meaningful pictures of (possibly high-dimensional) convex polytopes, triangulated manifolds, and other objects from the realm of geometric combinatorics such as tight spans of finite metric spaces…
Promising complementarity exists between the texture features of color images and the geometric information of LiDAR point clouds. However, there still present many challenges for efficient and robust feature fusion in the field of 3D…
We consider a planar graph $G$ in which the edges have nonnegative integer lengths such that the length of every cycle of $G$ is even, and three faces are distinguished, called holes in $G$. It is known that there exists a packing of cuts…
Determining if a point is in a polygon or not is used by a lot of applications in computer graphics, computer games and geoinformatics. Implementing this check is error-prone since there are many special cases to be considered. This holds…
We are interested in the fast computation of the exact value of integrals of polynomial functions over convex polyhedra. We present speed ups and extensions of the algorithms presented in previous work. We present the new software…
We present the P$^3$ dataset, a large-scale multimodal benchmark for building vectorization, constructed from aerial LiDAR point clouds, high-resolution aerial imagery, and vectorized 2D building outlines, collected across three continents.…