相关论文: Three-dimensional planar model estimation using mu…

3D modeling based on point clouds is an efficient way to reconstruct and create detailed 3D content. However, the geometric procedure may lose accuracy due to high redundancy and the absence of an explicit structure. In this work, we…

In this paper, we propose a general model for plane-based clustering. The general model contains many existing plane-based clustering methods, e.g., k-plane clustering (kPC), proximal plane clustering (PPC), twin support vector clustering…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

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…

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…

As a collection of 3D points sampled from surfaces of objects, a 3D point cloud is widely used in robotics, autonomous driving and augmented reality. Due to the physical limitations of 3D sensing devices, 3D point clouds are usually noisy,…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

We propose a robust and efficient method for multiview triangulation and uncertainty estimation. Our contribution is threefold: First, we propose an outlier rejection scheme using two-view RANSAC with the midpoint method. By prescreening…

Robust multiple model fitting plays a crucial role in many computer vision applications. Unlike single model fitting problems, the multi-model fitting has additional challenges. The unknown number of models and the inlier noise scale are…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

The estimation of modal parameters from a set of noisy measured data is a highly judgmental task, with user expertise playing a significant role in distinguishing between estimated physical and noise modes of a test-piece. Various methods…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

Piece-wise 3D planar reconstruction provides holistic scene understanding of man-made environments, especially for indoor scenarios. Most recent approaches focused on improving the segmentation and reconstruction results by introducing…

The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimation pipeline and may cause drift under real-time constraints.…

This paper presents a generalizable 3D plane detection and reconstruction framework named MonoPlane. Unlike previous robust estimator-based works (which require multiple images or RGB-D input) and learning-based works (which suffer from…

In recent years, point cloud normal estimation, as a classical and foundational algorithm, has garnered extensive attention in the field of 3D geometric processing. Despite the remarkable performance achieved by current Neural Network-based…

While deep learning-based methods have demonstrated outstanding results in numerous domains, some important functionalities are missing. Resolution scalability is one of them. In this work, we introduce a novel architecture, dubbed…

Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…