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

We present VSAC, a RANSAC-type robust estimator with a number of novelties. It benefits from the introduction of the concept of independent inliers that improves significantly the efficacy of the dominant plane handling and, also, allows…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

RANSAC is a popular technique for estimating model parameters in the presence of outliers. The best speed is achieved when the minimum possible number of points is used to estimate hypotheses for the model. Many useful problems can be…

Correspondence-based rotation search and point cloud registration are two fundamental problems in robotics and computer vision. However, the presence of outliers, sometimes even occupying the great majority of the putative correspondences,…

The paper studies planar surface reconstruction of indoor scenes from two views with unknown camera poses. While prior approaches have successfully created object-centric reconstructions of many scenes, they fail to exploit other…

We present 3D-MPA, a method for instance segmentation on 3D point clouds. Given an input point cloud, we propose an object-centric approach where each point votes for its object center. We sample object proposals from the predicted object…

Point clouds have been widely adopted in 3D semantic scene understanding. However, point clouds for typical tasks such as 3D shape segmentation or indoor scenario parsing are much denser than outdoor LiDAR sweeps for the application of…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

This paper presents a novel method, MaskMVS, to solve depth estimation for unstructured multi-view image-pose pairs. In the plane-sweep procedure, the depth planes are sampled by histogram matching that ensures covering the depth range of…

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…

Current point cloud processing algorithms do not have the capability to automatically extract semantic information from the observed scenes, except in very specialized cases. Furthermore, existing mesh analysis paradigms cannot be directly…

We propose a new approach for 3D instance segmentation based on sparse convolution and point affinity prediction, which indicates the likelihood of two points belonging to the same instance. The proposed network, built upon submanifold…

Solving Perspective-n-Point (PnP) problems is a traditional way of estimating object poses. Given outlier-contaminated data, a pose of an object is calculated with PnP algorithms of n = {3, 4} in the RANSAC-based scheme. However, the…

Reliable knowledge of road boundaries is critical for autonomous vehicle navigation. We propose a robust curb detection and filtering technique based on the fusion of camera semantics and dense lidar point clouds. The lidar point clouds are…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

RANSAC-based algorithms are the standard techniques for robust estimation in computer vision. These algorithms are iterative and computationally expensive; they alternate between random sampling of data, computing hypotheses, and running…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…