相关论文: Large-scale 3D point cloud representations via gra…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

This paper presents a learning-based, lossless compression method for static point cloud geometry, based on context-adaptive arithmetic coding. Unlike most existing methods working in the octree domain, our encoder operates in a hybrid…

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…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

Predicting how the world can evolve in the future is crucial for motion planning in autonomous systems. Classical methods are limited because they rely on costly human annotations in the form of semantic class labels, bounding boxes, and…

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…

Point clouds have gained prominence across numerous applications due to their ability to accurately represent 3D objects and scenes. However, efficiently compressing unstructured, high-precision point cloud data remains a significant…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…

Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

The 3D object detection capabilities in urban environments have been enormously improved by recent developments in Light Detection and Range (LiDAR) technology. This paper presents a novel framework that transforms the detection and…

Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…

We present an efficient voxelization method to encode the geometry and attributes of 3D point clouds obtained from autonomous vehicles. Due to the circular scanning trajectory of sensors, the geometry of LiDAR point clouds is inherently…