Related papers: Building LOD Representation for 3D Urban Scenes

Lidar datasets now commonly reach Billions of points and are very dense. Using these point cloud becomes challenging, as the high number of points is intractable for most applications and for visualisation.In this work we propose a new…

In this letter, we propose a color-assisted robust framework for accurate LiDAR odometry and mapping (LOAM). Simultaneously receiving data from both the LiDAR and the camera, the framework utilizes the color information from the camera…

We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…

With the advent of deep neural networks, learning-based approaches for 3D reconstruction have gained popularity. However, unlike for images, in 3D there is no canonical representation which is both computationally and memory efficient yet…

Compositional 3D scene synthesis has diverse applications across a spectrum of industries such as robotics, films, and video games, as it closely mirrors the complexity of real-world multi-object environments. Conventional works typically…

Recent advances in 3D scene generation produce visually appealing output, but current representations hinder artists' workflows that require modifiable 3D textured mesh scenes for visual effects and game development. Despite significant…

In recent years, 3D generation has made great strides in both academia and industry. However, generating 3D scenes from a single RGB image remains a significant challenge, as current approaches often struggle to ensure both object…

Recent advancements in Generative AI, particularly in Large Language Models (LLMs) and Large Vision-Language Models (LVLMs), offer new possibilities for integrating cognitive planning into robotic systems. In this work, we present a novel…

Single-photon light detection and ranging (lidar) captures depth and intensity information of a 3D scene. Reconstructing a scene from observed photons is a challenging task due to spurious detections associated with background illumination…

3D object detection and dense depth estimation are one of the most vital tasks in autonomous driving. Multiple sensor modalities can jointly attribute towards better robot perception, and to that end, we introduce a method for jointly…

Automatic methods for reconstructing buildings from airborne LiDAR point clouds focus on producing accurate 3D models in a fast and scalable manner, but they overlook the problem of delivering simple and regularized models to practitioners.…

The collection of ecological data in the field is essential to diagnose, monitor and manage ecosystems in a sustainable way. Since acquisition of this information through traditional methods are generally time-consuming, due to the…

A learning-based 3D reconstruction method for long-span bridges is proposed in this paper. 3D reconstruction generates a 3D computer model of a real object or scene from images, it involves many stages and open problems. Existing…

We present a novel 3D mapping method leveraging the recent progress in neural implicit representation for 3D reconstruction. Most existing state-of-the-art neural implicit representation methods are limited to object-level reconstructions…

Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…

Accurate volume estimation of objects from visual data is a long-standing challenge in computer vision with significant applications in robotics, logistics, and smart health. Existing methods often rely on complex 3D reconstruction…

We present a LiDAR-based and real-time capable 3D perception system for automated driving in urban domains. The hierarchical system design is able to model stationary and movable parts of the environment simultaneously and under real-time…

In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…

For robots to perform a wide variety of tasks, they require a 3D representation of the world that is semantically rich, yet compact and efficient for task-driven perception and planning. Recent approaches have attempted to leverage features…

3D scene generation has long been dominated by 2D multi-view or video diffusion models. This is due not only to the lack of scene-level 3D latent representation, but also to the fact that most scene-level 3D visual data exists in the form…