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

Semantic parsing of large-scale 3D point clouds is an important research topic in computer vision and remote sensing fields. Most existing approaches utilize hand-crafted features for each modality independently and combine them in a…

Instance segmentation on 3D point clouds is one of the most extensively researched areas toward the realization of autonomous cars and robots. Certain existing studies have split input point clouds into small regions such as 1m x 1m; one…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

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…

Scene flow estimation is the task to predict the point-wise or pixel-wise 3D displacement vector between two consecutive frames of point clouds or images, which has important application in fields such as service robots and autonomous…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

Existing works on motion deblurring either ignore the effects of depth-dependent blur or work with the assumption of a multi-layered scene wherein each layer is modeled in the form of fronto-parallel plane. In this work, we consider the…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

With the emergence of Gaussian Splats, recent efforts have focused on large-scale scene geometric reconstruction. However, most of these efforts either concentrate on memory reduction or spatial space division, neglecting information in the…

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…

In this work we present a method to train a plane-aware convolutional neural network for dense depth and surface normal estimation as well as plane boundaries from a single indoor $360^\circ$ image. Using our proposed loss function, our…

The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

We present a new deep point cloud rendering pipeline through multi-plane projections. The input to the network is the raw point cloud of a scene and the output are image or image sequences from a novel view or along a novel camera…

Object pose estimation is a fundamental computer vision task exploited in several robotics and augmented reality applications. Many established approaches rely on predicting 2D-3D keypoint correspondences using RANSAC (Random sample…

The recent success of pre-trained 2D vision models is mostly attributable to learning from large-scale datasets. However, compared with 2D image datasets, the current pre-training data of 3D point cloud is limited. To overcome this…

In geology, a key activity is the characterisation of geological structures (surface formation topology and rock units) using Planar Orientation measurements such as Strike, Dip and Dip Direction. In general these measurements are collected…