相关论文: Geometry Preserving Sampling Method based on Spect…

Recently, cross-source point cloud registration from different sensors has become a significant research focus. However, traditional methods confront challenges due to the varying density and structure of cross-source point clouds. In order…

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

The semantic segmentation of point clouds is an important part of the environment perception for robots. However, it is difficult to directly adopt the traditional 3D convolution kernel to extract features from raw 3D point clouds because…

Time varying sequences of 3D point clouds, or 4D point clouds, are now being acquired at an increasing pace in several applications (e.g., LiDAR in autonomous or assisted driving). In many cases, such volume of data is transmitted, thus…

Inferring signed distance functions (SDFs) from sparse point clouds remains a challenge in surface reconstruction. The key lies in the lack of detailed geometric information in sparse point clouds, which is essential for learning a…

Point-spread function (PSF) estimation in spatially undersampled images is challenging because large pixels average fine-scale spatial information. This is problematic when fine-resolution details are necessary, as in optimal photometry…

In this paper, we introduce a reinforcement learning approach utilizing a novel topology-based information gain metric for directing the next best view of a noisy 3D sensor. The metric combines the disjoint sections of an observed surface…

Reconstructing models from unorganized point clouds presents a significant challenge, especially when the models consist of multiple components represented by their surface point clouds. Such models often involve point clouds with noise…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

In this paper, we present a novel shape reconstruction method leveraging diffusion model to generate 3D sparse point cloud for the object captured in a single RGB image. Recent methods typically leverage global embedding or local…

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology…

Image segmentation is to extract meaningful objects from a given image. For degraded images due to occlusions, obscurities or noises, the accuracy of the segmentation result can be severely affected. To alleviate this problem, prior…

We present Lepard, a Learning based approach for partial point cloud matching in rigid and deformable scenes. The key characteristics are the following techniques that exploit 3D positional knowledge for point cloud matching: 1) An…

Despite the recent development of deep learning-based point cloud upsampling, most MLP-based point cloud upsampling methods have limitations in that it is difficult to train the local and global structure of the point cloud at the same…

In this paper, a three-dimensional light detection and ranging simultaneous localization and mapping (SLAM) method is proposed that is available for tracking and mapping with 500--1000 Hz processing. The proposed method significantly…

Most algorithms that rely on deep learning-based approaches to generate 3D point sets can only produce clouds containing fixed number of points. Furthermore, they typically require large networks parameterized by many weights, which makes…

Lidar became an important component of the perception systems in autonomous driving. But challenges of training data acquisition and annotation made emphasized the role of the sensor to sensor domain adaptation. In this work, we address the…

Hyperspectral images often have hundreds of spectral bands of different wavelengths captured by aircraft or satellites that record land coverage. Identifying detailed classes of pixels becomes feasible due to the enhancement in spectral and…

Efficient point cloud compression is fundamental to enable the deployment of virtual and mixed reality applications, since the number of points to code can range in the order of millions. In this paper, we present a novel data-driven…

We consider the problem of reconstructing one-dimensional point sources from their Fourier measurements in a bounded interval $[-\Omega, \Omega]$. This problem is known to be challenging in the regime where the spacing of the sources is…