相关论文: Oriented Point Sampling for Plane Detection in Uno…

This paper presents a very simple but efficient algorithm for 3D line segment detection from large scale unorganized point cloud. Unlike traditional methods which usually extract 3D edge points first and then link them to fit for 3D line…

We propose a new method for segmentation-free joint estimation of orthogonal planes, their intersection lines, relationship graph and corners lying at the intersection of three orthogonal planes. Such unified scene exploration under…

In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge…

Whether it is object detection, model reconstruction, laser odometry, or point cloud registration: Plane extraction is a vital component of many robotic systems. In this paper, we propose a strictly probabilistic method to detect finite…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Most existing 3D geometry copy detection research focused on 3D watermarking, which first embeds ``watermarks'' and then detects the added watermarks. However, this kind of methods is non-straightforward and may be less robust to attacks…

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.…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

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…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

In this paper, we propose a novel edge and corner detection algorithm for an unorganized point cloud. Our edge detection method classifies a query point as an edge point by evaluating the distribution of local neighboring points around the…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

The recent advances in 3D sensing technology have made possible the capture of point clouds in significantly high resolution. However, increased detail usually comes at the expense of high storage, as well as computational costs in terms of…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

A novel, adaptive ground-aware, and cost-effective 3D Object Detection pipeline is proposed. The ground surface representation introduced in this paper, in comparison to its uni-planar counterparts (methods that model the surface of a whole…

The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…