Related papers: Hierarchical Adaptive Voxel-guided Sampling for Re…

Most algorithms that rely on deep learning-based approaches to generate 3D point sets can only produce clouds containing fixed number of points. Furthermore, they typically require large networks parameterized by many weights, which makes…

Point cloud downsampling is a crucial pre-processing operation to downsample points in order to unify data size and reduce computational cost, to name a few. Recent research on point cloud downsampling has achieved great success which…

Recent developments in the 3D scanning technologies have made the generation of highly accurate 3D point clouds relatively easy but the segmentation of these point clouds remains a challenging area. A number of techniques have set precedent…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

This paper proposes a voxel-based approach for creating a digital twin of an urban environment that is capable of efficiently managing smart spaces. The paper explains the registration and localization procedure of the point cloud dataset,…

We present Point-Voxel CNN (PVCNN) for efficient, fast 3D deep learning. Previous work processes 3D data using either voxel-based or point-based NN models. However, both approaches are computationally inefficient. The computation cost and…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Keypoint detector and descriptor are two main components of point cloud registration. Previous learning-based keypoint detectors rely on saliency estimation for each point or farthest point sample (FPS) for candidate points selection, which…

LiDAR point clouds can effectively depict the motion and posture of objects in three-dimensional space. Many studies accomplish the 3D object detection by voxelizing point clouds. However, in autonomous driving scenarios, the sparsity and…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

Compressing a set of unordered points is far more challenging than compressing images/videos of regular sample grids, because of the difficulties in characterizing neighboring relations in an irregular layout of points. Many researchers…

As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…

Point clouds obtained from photogrammetry are noisy and incomplete models of reality. We propose an evolutionary optimization methodology that is able to approximate the underlying object geometry on such point clouds. This approach assumes…

A recurrent task in coordinated systems is managing (estimating, predicting, or controlling) signals that vary in space, such as distributed sensed data or computation outcomes. Especially in large-scale settings, the problem can be…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

Instance segmentation on point clouds is a fundamental task in 3D scene perception. In this work, we propose a concise clustering-based framework named HAIS, which makes full use of spatial relation of points and point sets. Considering…