相关论文: Point-GNN: Graph Neural Network for 3D Object Dete…

Using deep learning techniques to process 3D objects has achieved many successes. However, few methods focus on the representation of 3D objects, which could be more effective for specific tasks than traditional representations, such as…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

We present PolyGNN, a polyhedron-based graph neural network for 3D building reconstruction from point clouds. PolyGNN learns to assemble primitives obtained by polyhedral decomposition via graph node classification, achieving a watertight…

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…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

3D object detection from raw and sparse point clouds has been far less treated to date, compared with its 2D counterpart. In this paper, we propose a novel framework called FVNet for 3D front-view proposal generation and object detection…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

LiDAR-based 3D object detection pushes forward an immense influence on autonomous vehicles. Due to the limitation of the intrinsic properties of LiDAR, fewer points are collected at the objects farther away from the sensor. This imbalanced…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Airborne topographic LiDAR is an active remote sensing technology that emits near-infrared light to map objects on the Earth's surface. Derived products of LiDAR are suitable to service a wide range of applications because of their rich…

We propose a new method for fusing a LIDAR point cloud and camera-captured images in the deep convolutional neural network (CNN). The proposed method constructs a new layer called non-homogeneous pooling layer to transform features between…

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…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

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.…

We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…

We present a novel and high-performance 3D object detection framework, named PointVoxel-RCNN (PV-RCNN), for accurate 3D object detection from point clouds. Our proposed method deeply integrates both 3D voxel Convolutional Neural Network…

We propose a graph neural network(GNN) based method to incorporate scene context for the semantic segmentation of 3D LiDAR data. The problem is defined as building a graph to represent the topology of a center segment with its…