相关论文: Cloud Dictionary: Sparse Coding and Modeling for P…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Point clouds produced by 3D sensors are often sparse and noisy, posing challenges for tasks requiring dense and high-fidelity 3D representations. Prior work has explored both implicit feature-based upsampling and distance-function learning…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

Airborne laser scanning and photogrammetry are two main techniques to obtain 3D data representing the object surface. Due to the high cost of laser scanning, we want to explore the potential of using point clouds derived by dense image…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Within a perception framework for autonomous mobile and robotic systems, semantic analysis of 3D point clouds typically generated by LiDARs is key to numerous applications, such as object detection and recognition, and scene reconstruction.…

3D vehicle detection based on point cloud is a challenging task in real-world applications such as autonomous driving. Despite significant progress has been made, we observe two aspects to be further improved. First, the semantic context…

3D point cloud - a new signal representation of volumetric objects - is a discrete collection of triples marking exterior object surface locations in 3D space. Conventional imperfect acquisition processes of 3D point cloud - e.g.,…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

The current LiDAR SLAM (Simultaneous Localization and Mapping) system suffers greatly from low accuracy and limited robustness when faced with complicated circumstances. From our experiments, we find that current LiDAR SLAM systems have…

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…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…