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Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

LiDAR-based 3D detection in point cloud is essential in the perception system of autonomous driving. In this paper, we present LiDAR R-CNN, a second stage detector that can generally improve any existing 3D detector. To fulfill the…

Multi-task networks can potentially improve performance and computational efficiency compared to single-task networks, facilitating online deployment. However, current multi-task architectures in point cloud perception combine multiple…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Recent Transformer-based methods have achieved advanced performance in point cloud registration by utilizing advantages of the Transformer in order-invariance and modeling dependency to aggregate information. However, they still suffer from…

Cross-modal data registration has long been a critical task in computer vision, with extensive applications in autonomous driving and robotics. Accurate and robust registration methods are essential for aligning data from different…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

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…

LiDAR and photogrammetry are active and passive remote sensing techniques for point cloud acquisition, respectively, offering complementary advantages and heterogeneous. Due to the fundamental differences in sensing mechanisms, spatial…

Implicit neural networks have emerged as a crucial technology in 3D surface reconstruction. To reconstruct continuous surfaces from discrete point clouds, encoding the input points into regular grid features (plane or volume) has been…

In this paper, we propose a transformer-based procedure for the efficient registration of non-rigid 3D point clouds. The proposed approach is data-driven and adopts for the first time the transformer architecture in the registration task.…

There is a recent trend in the LiDAR perception field towards unifying multiple tasks in a single strong network with improved performance, as opposed to using separate networks for each task. In this paper, we introduce a new LiDAR…

The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…