相关论文: Tigris: Architecture and Algorithms for 3D Percept…

In this study, we present an analysis of model-based ensemble learning for 3D point-cloud object classification and detection. An ensemble of multiple model instances is known to outperform a single model instance, but there is little study…

With the growing popularity of cloud gaming and cloud virtual reality (VR), interactive 3D applications have become a major type of workloads for the cloud. However, despite their growing importance, there is limited public research on how…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Along with increasingly popular virtual reality applications, the three-dimensional (3D) point cloud has become a fundamental data structure to characterize 3D objects and surroundings. To process 3D point clouds efficiently, a suitable…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

LiDAR sensors are a key modality for 3D perception, yet they are typically designed independently of downstream tasks such as point cloud registration. Conventional registration operates on pre-acquired datasets with fixed LiDAR…

3D point cloud registration is a fundamental problem in computer vision, computer graphics, robotics, remote sensing, and etc. Over the last thirty years, we have witnessed the amazing advancement in this area with numerous kinds of…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

We study the problem of efficient object detection of 3D LiDAR point clouds. To reduce the memory and computational cost, existing point-based pipelines usually adopt task-agnostic random sampling or farthest point sampling to progressively…

This paper proposes an efficient data structure, ikd-Tree, for dynamic space partition. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees.…

This paper presents a novel architecture for point cloud road user detection, which is based on a classical point cloud proposal generator approach, that utilizes simple geometrical rules. New methods are coupled with this technique to…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

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…

This paper explores a rapid, optimal smooth path-planning algorithm for robots (e.g., autonomous vehicles) in point cloud environments. Derivative maps such as dense point clouds, mesh maps, Octomaps, etc. are frequently used for path…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

Lidar datasets are becoming more and more common. They are appreciated for their precise 3D nature, and have a wide range of applications, such as surface reconstruction, object detection, visualisation, etc. For all this applications,…

Video-based gait recognition has achieved impressive results in constrained scenarios. However, visual cameras neglect human 3D structure information, which limits the feasibility of gait recognition in the 3D wild world. Instead of…