相关论文: Constructing Locally Dense Point Clouds Using Open…

Conventional methods of 3D object generative modeling learn volumetric predictions using deep networks with 3D convolutional operations, which are direct analogies to classical 2D ones. However, these methods are computationally wasteful in…

In the proposed study, we describe an approach to improving the computational efficiency and robustness of visual SLAM algorithms on mobile robots with multiple cameras and limited computational power by implementing an intermediate layer…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…

Point cloud registration is a task to estimate the rigid transformation between two unaligned scans, which plays an important role in many computer vision applications. Previous learning-based works commonly focus on supervised…

3D point cloud registration is a fundamental problem in computer vision and robotics. Recently, learning-based point cloud registration methods have made great progress. However, these methods are sensitive to outliers, which lead to more…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

We present ORB-SLAM2 a complete SLAM system for monocular, stereo and RGB-D cameras, including map reuse, loop closing and relocalization capabilities. The system works in real-time on standard CPUs in a wide variety of environments from…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

Local density of point clouds is crucial for representing local details, but has been overlooked by existing point cloud compression methods. To address this, we propose a novel deep point cloud compression method that preserves local…

Rendering high-fidelity images from sparse point clouds is still challenging. Existing learning-based approaches suffer from either hole artifacts, missing details, or expensive computations. In this paper, we propose a novel framework to…

We consider the point cloud registration problem, the task of finding a transformation between two point clouds that represent the same object but are expressed in different coordinate systems. Our approach is not based on a point-to-point…

In recent years, depth sensors have become more and more affordable and have found their way into a growing amount of robotic systems. However, mono- or multi-modal sensor registration, often a necessary step for further processing, faces…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Point clouds and high-resolution 3D data have become increasingly important in various fields, including surveying, construction, and virtual reality. However, simply having this data is not enough; to extract useful information, semantic…

We propose Differentiable Surface Splatting (DSS), a high-fidelity differentiable renderer for point clouds. Gradients for point locations and normals are carefully designed to handle discontinuities of the rendering function.…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Point cloud registration is a fundamental task for estimating rigid transformations between point clouds. Previous studies have used geometric information for extracting features, matching and estimating transformation. Recently, owing to…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

Multi-robot visual simultaneous localization and mapping (SLAM) system is normally consisted of multiple mobile robots equipped with camera and/or other visual sensors. The networked robots work independently or cooperatively in an unknown…