相关论文: Point-cloud-based place recognition using CNN feat…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

Recently Convolutional Neural Networks (CNNs) have been shown to achieve state-of-the-art performance on various classification tasks. In this paper, we present for the first time a place recognition technique based on CNN models, by…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

We present a simple and general framework for feature learning from point clouds. The key to the success of CNNs is the convolution operator that is capable of leveraging spatially-local correlation in data represented densely in grids…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a…

For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

This paper presents an approach for semantic place categorization using data obtained from RGB cameras. Previous studies on visual place recognition and classification have shown that, by considering features derived from pre-trained…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Convolutional Neural Networks (CNNs) have recently been shown to excel at performing visual place recognition under changing appearance and viewpoint. Previously, place recognition has been improved by intelligently selecting relevant…