Related papers: OctSqueeze: Octree-Structured Entropy Model for Li…
We present a novel compression algorithm for reducing the storage of LiDAR sensor data streams. Our model exploits spatio-temporal relationships across multiple LiDAR sweeps to reduce the bitrate of both geometry and intensity values.…
The non-uniform distribution and extremely sparse nature of the LiDAR point cloud (LPC) bring significant challenges to its high-efficient compression. This paper proposes a novel end-to-end, fully-factorized deep framework that encodes the…
Octree-based context learning has recently become a leading method in point cloud compression. However, its potential on lossy compression remains undiscovered. The traditional lossy compression paradigm using lossless octree representation…
In point cloud compression, sufficient contexts are significant for modeling the point cloud distribution. However, the contexts gathered by the previous voxel-based methods decrease when handling sparse point clouds. To address this…
Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…
We present a novel octree-based multi-level framework for large-scale point cloud compression, which can organize sparse and unstructured point clouds in a memory-efficient way. In this framework, we propose a new entropy model that…
Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…
In the context of Intelligent Transportation Systems (ITS), efficient data compression is crucial for managing large-scale point cloud data acquired by roadside LiDAR sensors. The demand for efficient storage, streaming, and real-time…
Recently, deep learning methods have shown promising results in point cloud compression. For octree-based point cloud compression, previous works show that the information of ancestor nodes and sibling nodes are equally important for…
Lidars are depth measuring sensors widely used in autonomous driving and augmented reality. However, the large volume of data produced by lidars can lead to high costs in data storage and transmission. While lidar data can be represented as…
Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…
LiDAR point cloud compression is vital for autonomous systems to handle massive data from high-resolution sensors. While learned entropy modeling built upon octree structures yields high compression gains, it faces two critical bottlenecks:…
Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…
This paper describes a novel lossless point cloud compression algorithm that uses a neural network for estimating the coding probabilities for the occupancy status of voxels, depending on wide three dimensional contexts around the voxel to…
LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…
A key challenge for LiDAR-based 3D object detection is to capture sufficient features from large scale 3D scenes especially for distant or/and occluded objects. Albeit recent efforts made by Transformers with the long sequence modeling…
In this paper, we propose a two-stage deep learning framework called VoxelContext-Net for both static and dynamic point cloud compression. Taking advantages of both octree based methods and voxel based schemes, our approach employs the…
Real-time light detection and ranging (LiDAR) perceptions, e.g., 3D object detection and simultaneous localization and mapping are computationally intensive to mobile devices of limited resources and often offloaded on the edge. Offloading…
Training on the Edge enables neural networks to learn continuously from new data after deployment on memory-constrained edge devices. Previous work is mostly concerned with reducing the number of model parameters which is only beneficial…
In a fully autonomous driving framework, where vehicles operate without human intervention, information sharing plays a fundamental role. In this context, new network solutions have to be designed to handle the large volumes of data…