相关论文: Finding Singular Features

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

Detecting arbitrarily shaped clusters in high-dimensional noisy data is challenging for current clustering methods. We introduce SHADE (Structure-preserving High-dimensional Analysis with Density-based Exploration), the first deep…

Point Pair Features is a widely used method to detect 3D objects in point clouds, however they are prone to fail in presence of sensor noise and background clutter. We introduce novel sampling and voting schemes that significantly reduces…

Datasets in high-dimension do not typically form clusters in their original space; the issue is worse when the number of points in the dataset is small. We propose a low-computation method to find statistically significant clustering…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

We present the DIScrete PERsistent Structures Extractor (DisPerSE), an open source software for the automatic and robust identification of structures in 2D and 3D noisy data sets. The software is designed to identify all sorts of…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

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…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

We introduce a dimension reduction method for visualizing the clustering structure obtained from a finite mixture of Gaussian densities. Information on the dimension reduction subspace is obtained from the variation on group means and,…

How can we tell complex point clouds with different small scale characteristics apart, while disregarding global features? Can we find a suitable transformation of such data in a way that allows to discriminate between differences in this…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

We focus on the problem of identifying samples in a set that do not conform to structured patterns represented by low-dimensional manifolds. An effective way to solve this problem is to embed data in a high dimensional space, called…

Learning and selecting important points on a point cloud is crucial for point cloud understanding in various applications. Most of early methods selected the important points on 3D shapes by analyzing the intrinsic geometric properties of…

A noise-based non-parametric technique for detecting nebulous objects, for example, irregular or clumpy galaxies, and their structure in noise is introduced. "Noise-based" and "non-parametric" imply that this technique imposes negligible…

Detecting anomalies from 3D point clouds has received increasing attention in the field of computer vision, with some group-based or point-based methods achieving impressive results in recent years. However, learning accurate point-wise…

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.…

The phase space of visible particles in missing energy events may have singularity structures. The singularity variables are devised to capture the singularities effectively for given event topology. They can greatly improve the discovery…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

Context. In order to understand the evolution of molecular clouds it is important to identify the departures from self-similarity associated with the scales of self-gravity and the driving of turbulence. Aims. A method is described based on…