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

A generative model for high-fidelity point clouds is of great importance in synthesizing 3d environments for applications such as autonomous driving and robotics. Despite the recent success of deep generative models for 2d images, it is…

Recent progress of semantic point clouds analysis is largely driven by synthetic data (e.g., the ModelNet and the ShapeNet), which are typically complete, well-aligned and noisy free. Therefore, representations of those ideal synthetic…

Point cloud has been widely used in the field of autonomous driving since it can provide a more comprehensive three-dimensional representation of the environment than 2D images. Point-wise prediction based on point cloud sequence (PCS) is…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Point clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

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…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Recently, the advancement of deep learning in discriminative feature learning from 3D LiDAR data has led to rapid development in the field of autonomous driving. However, automated processing uneven, unstructured, noisy, and massive 3D…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Exploiting past 3D LiDAR scans to predict future point clouds is a promising method for autonomous mobile systems to realize foresighted state estimation, collision avoidance, and planning. In this paper, we address the problem of…

Many applications in robotics and human-computer interaction can benefit from understanding 3D motion of points in a dynamic environment, widely noted as scene flow. While most previous methods focus on stereo and RGB-D images as input, few…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…