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The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimation pipeline and may cause drift under real-time constraints.…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…
A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…
We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…
Accurately and robustly estimating the state of deformable linear objects (DLOs), such as ropes and wires, is crucial for DLO manipulation and other applications. However, it remains a challenging open issue due to the high dimensionality…
3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…
A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a general representation of drivable and occupied space.…
In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…
Depth perception is considered an invaluable source of information in the context of 3D mapping and various robotics applications. However, point cloud maps acquired using consumer-level light detection and ranging sensors (lidars) still…
LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…
In contrast to the generic object, aerial targets are often non-axis aligned with arbitrary orientations having the cluttered surroundings. Unlike the mainstreamed approaches regressing the bounding box orientations, this paper proposes an…
Modern image encoders achieve high generalization by decoupling semantic meaning from resolution, an ability yet to be fully realized in the 3D domain. We investigate the failure of 3D point cloud encoders to achieve similar generalization…
We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…
Storing and transmitting LiDAR point cloud data is essential for many AV applications, such as training data collection, remote control, cloud services or SLAM. However, due to the sparsity and unordered structure of the data, it is…
We investigate the use of a point cloud measurement in terrain-aided navigation. Our goal is to aid an inertial navigation system, by exploring ways to generate a useful measurement innovation error for effective nonlinear state estimation.…
Radar perception models are trained with different inputs, from range-Doppler spectra to sparse point clouds. Dense spectra are assumed to outperform sparse point clouds, yet they can vary considerably across sensors and configurations,…
4D mmWave radar provides weather-robust, velocity-aware measurements and is more cost-effective than LiDAR. However, radar-only 3D detection still trails LiDAR-based systems because radar point clouds are sparse, irregular, and often…
LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…
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…
This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for…