相关论文: Generic Primitive Detection in Point Clouds Using …

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

3D object detection in point clouds is a challenging vision task that benefits various applications for understanding the 3D visual world. Lots of recent research focuses on how to exploit end-to-end trainable Hough voting for generating…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

Traditional 3D garment creation requires extensive manual operations, resulting in time and labor costs. Recently, 3D Gaussian Splatting has achieved breakthrough progress in 3D scene reconstruction and rendering, attracting widespread…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical…

Existing class-incremental learning methods in 3D point clouds rely on exemplars (samples of former classes) to resist the catastrophic forgetting of models, and exemplar-free settings will greatly degrade the performance. For exemplar-free…

Object detection in point clouds is an important aspect of many robotics applications such as autonomous driving. In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline.…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower…

This report presents our method which wins the nuScenes3D Detection Challenge [17] held in Workshop on Autonomous Driving(WAD, CVPR 2019). Generally, we utilize sparse 3D convolution to extract rich semantic features, which are then fed…

Normal estimation for 3D point clouds is a fundamental task in 3D geometry processing. The state-of-the-art methods rely on priors of fitting local surfaces learned from normal supervision. However, normal supervision in benchmarks comes…

We address the problem of real-time 3D object detection from point clouds in the context of autonomous driving. Computation speed is critical as detection is a necessary component for safety. Existing approaches are, however, expensive in…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…