Related papers: Low-complexity Point Cloud Filtering for LiDAR by …

Point clouds are widely used in 3D content representation and have various applications in multimedia. However, compression and simplification processes inevitably result in the loss of quality-aware information under storage and bandwidth…

Unsupervised change detection between airborne LiDAR data points, taken at separate times over the same location, can be difficult due to unmatching spatial support and noise from the acquisition system. Most current approaches to detect…

Recovering high quality surfaces from noisy point clouds, known as point cloud denoising, is a fundamental yet challenging problem in geometry processing. Most of the existing methods either directly denoise the noisy input or filter raw…

Principal Component Analysis (PCA) has been widely used for dimensionality reduction and feature extraction. Robust PCA (RPCA), under different robust distance metrics, such as l1-norm and l2, p-norm, can deal with noise or outliers to some…

LiDAR panoptic segmentation is a newly proposed technical task for autonomous driving. In contrast to popular end-to-end deep learning solutions, we propose a hybrid method with an existing semantic segmentation network to extract semantic…

3D detection is a critical task that enables machines to identify and locate objects in three-dimensional space. It has a broad range of applications in several fields, including autonomous driving, robotics and augmented reality. Monocular…

Although convolutional representation of multiscale sparse tensor demonstrated its superior efficiency to accurately model the occupancy probability for the compression of geometry component of dense object point clouds, its capacity for…

In this paper, we propose a normal estimation method for unstructured 3D point clouds. In this method, a feature constraint mechanism called Local Plane Features Constraint (LPFC) is used and then a multi-scale selection strategy is…

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…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

In this paper, we consider clustering based on principal component analysis (PCA) for high-dimension, low-sample-size (HDLSS) data. We give theoretical reasons why PCA is effective for clustering HDLSS data. First, we derive a geometric…

Point cloud data represents a crucial category of information for mathematical modeling, and surface reconstruction from such data is an important task across various disciplines. However, during the scanning process, the collected point…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Adverse weather conditions such as snow, fog, and rain pose significant challenges to LiDAR-based perception models by introducing noise and corrupting point cloud measurements. To address this issue, we propose TripleMixer, a robust and…

Principal Component Analysis (PCA) is one of the most important methods to handle high dimensional data. However, most of the studies on PCA aim to minimize the loss after projection, which usually measures the Euclidean distance, though in…

Point cloud filtering, the main bottleneck of which is removing noise (outliers) while preserving geometric features, is a fundamental problem in 3D field. The two-step schemes involving normal estimation and position update have been shown…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

We present a neural-network-based architecture for 3D point cloud denoising called neural projection denoising (NPD). In our previous work, we proposed a two-stage denoising algorithm, which first estimates reference planes and follows by…