相关论文: 3D Binary Signatures

In this paper we propose an approach to embed continuous and selector cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a…

We present a novel 3D shape completion method that operates directly on unstructured point clouds, thus avoiding resource-intensive data structures like voxel grids. To this end, we introduce KAPLAN, a 3D point descriptor that aggregates…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

Object segmentation in three-dimensional (3-D) point clouds is a critical task for robots capable of 3-D perception. Despite the impressive performance of deep learning-based approaches on object segmentation in 2-D images, deep learning…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

Visual localization is to estimate the 6-DOF camera pose of a query image in a 3D reference map. We extract keypoints from the reference image and generate a 3D reference map with 3D reconstruction of the keypoints in advance. We emphasize…

In the field of autonomous driving and robotics, point clouds are showing their excellent real-time performance as raw data from most of the mainstream 3D sensors. Therefore, point cloud neural networks have become a popular research…

This paper introduces a new definition of multiscale neighborhoods in 3D point clouds. This definition, based on spherical neighborhoods and proportional subsampling, allows the computation of features with a consistent geometrical meaning,…

A 3D point cloud describes the real scene precisely and intuitively.To date how to segment diversified elements in such an informative 3D scene is rarely discussed. In this paper, we first introduce a simple and flexible framework to…

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…

3D object detection based on point clouds has become more and more popular. Some methods propose localizing 3D objects directly from raw point clouds to avoid information loss. However, these methods come with complex structures and…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

Binary descriptors have been instrumental in the recent evolution of computationally efficient sparse image alignment algorithms. Increasingly, however, the vision community is interested in dense image alignment methods, which are more…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

Semantic labeling of 3D point clouds is important for the derivation of 3D models from real world scenarios in several economic fields such as building industry, facility management, town planning or heritage conservation. In contrast to…

The recent success of neural networks enables a better interpretation of 3D point clouds, but processing a large-scale 3D scene remains a challenging problem. Most current approaches divide a large-scale scene into small regions and combine…

Feature extraction and matching are the basic parts of many robotic vision tasks, such as 2D or 3D object detection, recognition, and registration. As is known, 2D feature extraction and matching have already achieved great success.…

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…

LiDAR registration is a fundamental task in robotic mapping and localization. A critical component of aligning two point clouds is identifying robust point correspondences using point descriptors. This step becomes particularly challenging…