相关论文: Road Curb Extraction from Mobile LiDAR Point Cloud…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

We present SurfCut, an algorithm for extracting a smooth, simple surface with an unknown 3D curve boundary from a noisy 3D image and a seed point. Our method is built on the novel observation that certain ridge curves of a function defined…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

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…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

The use of infrastructure sensor technology for traffic detection has already been proven several times. However, extrinsic sensor calibration is still a challenge for the operator. While previous approaches are unable to calibrate the…

Road extraction is a process of automatically generating road maps mainly from satellite images. Existing models all target to generate roads from the scratch despite that a large quantity of road maps, though incomplete, are publicly…

Road curbs are considered as one of the crucial and ubiquitous traffic features, which are essential for ensuring the safety of autonomous vehicles. Current methods for detecting curbs primarily rely on camera imagery or LiDAR point clouds.…

We propose a method for off-road drivable area extraction using 3D LiDAR data with the goal of autonomous driving application. A specific deep learning framework is designed to deal with the ambiguous area, which is one of the main…

One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

The field of autonomous driving technology is rapidly advancing, with deep learning being a key component. Particularly in the field of sensing, 3D point cloud data collected by LiDAR is utilized to run deep neural network models for 3D…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

Recognising individual trees within remotely sensed imagery has important applications in forest ecology and management. Several algorithms for tree delineation have been suggested, mostly based on locating local maxima or inverted basins…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

In recent years new application areas have emerged in which one aims to capture the geometry of objects by means of three-dimensional point clouds. Often the obtained data consist of a dense sampling of the object's surface, containing many…

This paper studies the problem of extracting planar regions in uneven terrains from unordered point cloud measurements. Such a problem is critical in various robotic applications such as robotic perceptive locomotion. While existing…

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Accurate tree detection is of growing importance in applications such as urban planning, forest inventory, and environmental monitoring. In this article, we present an approach to creating tree maps by annotating them in 3D point clouds.…