相关论文: Evaluation of Plane Detection with RANSAC Accordin…

Plane model extraction from three-dimensional point clouds is a necessary step in many different applications such as planar object reconstruction, indoor mapping and indoor localization. Different RANdom SAmple Consensus (RANSAC)-based…

Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…

We present a real-time method for robust estimation of multiple instances of geometric models from noisy data. Geometric models such as vanishing points, planar homographies or fundamental matrices are essential for 3D scene analysis.…

Random sample consensus (RANSAC) is a robust model-fitting algorithm. It is widely used in many fields including image-stitching and point cloud registration. In RANSAC, data is uniformly sampled for hypothesis generation. However, this…

This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…

Ground surface detection in point cloud is widely used as a key module in autonomous driving systems. Different from previous approaches which are mostly developed for lidars with high beam resolution, e.g. Velodyne HDL-64, this paper…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

In man-made environments such as indoor scenes, when point-based 3D reconstruction fails due to the lack of texture, lines can still be detected and used to support surfaces. We present a novel method for watertight piecewise-planar surface…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…

Plane detection in 3D point clouds is a crucial pre-processing step for applications such as point cloud segmentation, semantic mapping and SLAM. In contrast to many recent plane detection methods that are only applicable on organized point…

We present a method that can evaluate a RANSAC hypothesis in constant time, i.e. independent of the size of the data. A key observation here is that correct hypotheses are tightly clustered together in the latent parameter domain. In a…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

A new algorithm is proposed to accelerate RANSAC model quality calculations. The method is based on partitioning the joint correspondence space, e.g., 2D-2D point correspondences, into a pair of regular grids. The grid cells are mapped by…

We reconsider the classic problem of estimating accurately a 2D transformation from point matches between images containing outliers. RANSAC discriminates outliers by randomly generating minimalistic sampled hypotheses and verifying their…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…

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…

Learning-based scene representations such as neural radiance fields or light field networks, that rely on fitting a scene model to image observations, commonly encounter challenges in the presence of inconsistencies within the images caused…