相关论文: RandLA-Net: Efficient Semantic Segmentation of Lar…

Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

Semantic segmentation of point clouds is an essential task for understanding the environment in autonomous driving and robotics. Recent range-based works achieve real-time efficiency, while point- and voxel-based methods produce better…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

Recent advances in point cloud perception have demonstrated remarkable progress in scene understanding through vision-language alignment leveraging large language models (LLMs). However, existing methods may still encounter challenges in…

Point clouds provide intrinsic geometric information and surface context for scene understanding. Existing methods for point cloud segmentation require a large amount of fully labeled data. Using advanced depth sensors, collection of large…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

The task of point cloud upsampling aims to acquire dense and uniform point sets from sparse and irregular point sets. Although significant progress has been made with deep learning models, state-of-the-art methods require ground-truth dense…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

Point cloud semantic segmentation has attracted attentions due to its robustness to light condition. This makes it an ideal semantic solution for autonomous driving. However, considering the large computation burden and bandwidth demanding…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

Mamba has recently gained widespread attention as a backbone model for point cloud modeling, leveraging a state-space architecture that enables efficient global sequence modeling with linear complexity. However, its lack of local inductive…

We propose a fully automatic annotation scheme that takes a raw 3D point cloud with a set of fitted CAD models as input and outputs convincing point-wise labels that can be used as cheap training data for point cloud segmentation. Compared…

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…

For autonomous driving, radar sensors provide superior reliability regardless of weather conditions as well as a significantly high detection range. State-of-the-art algorithms for environment perception based on radar scans build up on…

Three-dimensional (3D) point clouds are increasingly used in applications such as autonomous driving, robotics, and virtual reality (VR). Point-based neural networks (PNNs) have demonstrated strong performance in point cloud analysis,…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

3D semantic segmentation is a fundamental building block for several scene understanding applications such as autonomous driving, robotics and AR/VR. Several state-of-the-art semantic segmentation models suffer from the part…

Pothole detection is crucial for road safety and maintenance, traditionally relying on 2D image segmentation. However, existing 3D Semantic Pothole Segmentation research often overlooks point cloud sparsity, leading to suboptimal local…

In this paper, we focus on semantic segmentation method for point clouds of urban scenes. Our fundamental concept revolves around the collaborative utilization of diverse scene representations to benefit from different context information…