Related papers: Quadric Representations for LiDAR Odometry, Mappin…

Encoding 3D points is one of the primary steps in learning-based implicit scene representation. Using features that gather information from neighbors with multi-resolution grids has proven to be the best geometric encoder for this task.…

Conventional SLAM systems using visual or LiDAR data often struggle in poor lighting and severe weather. Although 4D radar is suited for such environments, its sparse and noisy point clouds hinder accurate odometry estimation, while the…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Place recognition is essential for achieving closed-loop or global positioning in autonomous vehicles and mobile robots. Despite recent advancements in place recognition using 2D cameras or 3D LiDAR, it remains to be seen how to use 4D…

We propose a fast and accurate surface reconstruction algorithm for unorganized point clouds using an implicit representation. Recent learning methods are either single-object representations with small neural models that allow for high…

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 last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of…

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…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

LiDAR odometry and localization has attracted increasing research interest in recent years. In the existing works, iterative closest point (ICP) is widely used since it is precise and efficient. Due to its non-convexity and its local…

A Scene, represented visually using different formats such as RGB-D, LiDAR scan, keypoints, rectangular, spherical, multi-views, etc., contains information implicitly embedded relevant to applications such as scene indexing, vision-based…

3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

3D occupancy prediction is crucial for robust autonomous driving systems as it enables comprehensive perception of environmental structures and semantics. Most existing methods employ dense voxel-based scene representations, ignoring the…

Although neural radiance fields (NeRFs) have achieved triumphs in image novel view synthesis (NVS), LiDAR NVS remains largely unexplored. Previous LiDAR NVS methods employ a simple shift from image NVS methods while ignoring the dynamic…

Time varying sequences of 3D point clouds, or 4D point clouds, are now being acquired at an increasing pace in several applications (e.g., LiDAR in autonomous or assisted driving). In many cases, such volume of data is transmitted, thus…