相关论文: Conf-Net: Toward High-Confidence Dense 3D Point-Cl…

In this paper we consider the problem of estimating a dense depth map from a set of sparse LiDAR points. We use techniques from compressed sensing and the recently developed Alternating Direction Neural Networks (ADNNs) to create a deep…

In this paper, we propose a Point Fractal Network (PF-Net), a novel learning-based approach for precise and high-fidelity point cloud completion. Unlike existing point cloud completion networks, which generate the overall shape of the point…

LiDAR-based SLAM algorithms are extensively studied to providing robust and accurate positioning for autonomous driving vehicles (ADV) in the past decades. Satisfactory performance can be obtained using high-grade 3D LiDAR with 64 channels,…

We propose 3DSmoothNet, a full workflow to match 3D point clouds with a siamese deep learning architecture and fully convolutional layers using a voxelized smoothed density value (SDV) representation. The latter is computed per interest…

Dense depth cues are important and have wide applications in various computer vision tasks. In autonomous driving, LIDAR sensors are adopted to acquire depth measurements around the vehicle to perceive the surrounding environments. However,…

Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…

LiDAR depth-only completion is a challenging task to estimate dense depth maps only from sparse measurement points obtained by LiDAR. Even though the depth-only methods have been widely developed, there is still a significant performance…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

To realize low-latency spatial transmission system for immersive telepresence, there are two major problems: capturing dynamic 3D scene densely and processing them in real time. LiDAR sensors capture 3D in real time, but produce sparce…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Depth completion is a crucial task in autonomous driving, aiming to convert a sparse depth map into a dense depth prediction. Due to its potentially rich semantic information, RGB image is commonly fused to enhance the completion effect.…

In this paper, we tackle the challenging problem of point cloud completion from the perspective of feature learning. Our key observation is that to recover the underlying structures as well as surface details, given partial input, a…

It has been well recognized that fusing the complementary information from depth-aware LiDAR point clouds and semantic-rich stereo images would benefit 3D object detection. Nevertheless, it is not trivial to explore the inherently unnatural…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

Dense point cloud generation from a sparse or incomplete point cloud is a crucial and challenging problem in 3D computer vision and computer graphics. So far, the existing methods are either computationally too expensive, suffer from…

Motivated by the increasing application of low-resolution LiDAR recently, we target the problem of low-resolution LiDAR-camera calibration in this work. The main challenges are two-fold: sparsity and noise in point clouds. To address the…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Unsupervised depth completion aims to recover dense depth from the sparse one without using the ground-truth annotation. Although depth measurement obtained from LiDAR is usually sparse, it contains valid and real distance information,…

Semantic understanding of the surrounding environment is essential for automated vehicles. The recent publication of the SemanticKITTI dataset stimulates the research on semantic segmentation of LiDAR point clouds in urban scenarios. While…