相关论文: PointNetVLAD: Deep Point Cloud Based Retrieval for…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

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…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

Point cloud understanding is an inherently challenging problem because of the sparse and unordered structure of the point cloud in the 3D space. Recently, Contrastive Vision-Language Pre-training (CLIP) based point cloud classification…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

For relocalization in large-scale point clouds, we propose the first approach that unifies global place recognition and local 6DoF pose refinement. To this end, we design a Siamese network that jointly learns 3D local feature detection and…

Visual place recognition is the task of recognizing a place depicted in an image based on its pure visual appearance without metadata. In visual place recognition, the challenges lie upon not only the changes in lighting conditions, camera…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…