Related papers: FEC: Fast Euclidean Clustering for Point Cloud Seg…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motion states for each…

Cluster analysis plays a very important role in data analysis. In these years, cluster ensemble, as a cluster analysis tool, has drawn much attention for its robustness, stability, and accuracy. Many efforts have been done to combine…

Ground segmentation in point cloud data is the process of separating ground points from non-ground points. This task is fundamental for perception in autonomous driving and robotics, where safety and reliable operation depend on the precise…

Reliable 3D segmentation is critical for understanding complex scenes with dense layouts and multi-scale objects, as commonly seen in industrial environments. In such scenarios, heavy occlusion weakens geometric boundaries between objects,…

We propose a Classification Via Clustering (CVC) algorithm which enables existing clustering methods to be efficiently employed in classification problems. In CVC, training and test data are co-clustered and class-cluster distributions are…

With current trends in sensors (cheaper, more volume of data) and applications (increasing affordability for new tasks, new ideas in what 3D data could be useful for); there is corresponding increasing interest in the ability to…

In this work, we propose a novel two-stage framework for the efficient 3D point cloud object detection. Instead of transforming point clouds into 2D bird eye view projections, we parse the raw point cloud data directly in the 3D space yet…

The light detection and ranging (LiDAR) technology allows to sense surrounding objects with fine-grained resolution in a large areas. Their data (aka point clouds), generated continuously at very high rates, can provide information to…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

3D point cloud segmentation has made tremendous progress in recent years. Most current methods focus on aggregating local features, but fail to directly model long-range dependencies. In this paper, we propose Stratified Transformer that is…

This paper proposes EyeNet, a novel semantic segmentation network for point clouds that addresses the critical yet often overlooked parameter of coverage area size. Inspired by human peripheral vision, EyeNet overcomes the limitations of…

We present two new classes of algorithms for efficient field integration on graphs encoding point clouds. The first class, SeparatorFactorization(SF), leverages the bounded genus of point cloud mesh graphs, while the second class,…

We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects in a 3D point cloud directly. Current methods for 3D instance segmentation are generally…

Point cloud segmentation is fundamental in understanding 3D environments. However, current 3D point cloud segmentation methods usually perform poorly on scene boundaries, which degenerates the overall segmentation performance. In this…

Interacting with the environment, such as object detection and tracking, is a crucial ability of mobile robots. Besides high accuracy, efficiency in terms of processing effort and energy consumption are also desirable. To satisfy both…

Computer Aided Design (CAD) is widely used in the creation and optimization of various industrial systems and processes. Transforming a CAD geometry into a computational discretization that be used to solve PDEs requires care and a deep…