相关论文: Fast Geometric Surface based Segmentation of Point…

Consistent maps are key for most autonomous mobile robots, and they often use SLAM approaches to build such maps. Loop closures via place recognition help to maintain accurate pose estimates by mitigating global drift, and are thus key for…

Robots typically possess sensors of different modalities, such as colour cameras, inertial measurement units, and 3D laser scanners. Often, solving a particular problem becomes easier when more than one modality is used. However, while…

This paper introduces VolMap, a real-time approach for the semantic segmentation of a 3D LiDAR surrounding view system in autonomous vehicles. We designed an optimized deep convolution neural network that can accurately segment the point…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles. However, most semantic datasets and algorithms used for LiDAR sequence segmentation operate on $360^\circ$ frames, causing an acquisition latency incompatible with…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

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…

This paper presents a novel and fast approach for ground plane segmentation in a LiDAR point cloud, specifically optimized for processing speed and hardware efficiency on FPGA hardware platforms. Our approach leverages a channel-based…

Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric…

An accurate and computationally efficient SLAM algorithm is vital for modern autonomous vehicles. To make a lightweight the algorithm, most SLAM systems rely on feature detection from images for vision SLAM or point cloud for laser-based…

LiDAR scanning for surveying applications acquire measurements over wide areas and long distances, which produces large-scale 3D point clouds with significant local density variations. While existing 3D semantic segmentation models conduct…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

We propose an efficient and scalable method for incrementally building a dense, semantically annotated 3D map in real-time. The proposed method assigns class probabilities to each region, not each element (e.g., surfel and voxel), of the 3D…

Robust and accurate localization is a basic requirement for mobile autonomous systems. Pole-like objects, such as traffic signs, poles, and lamps are frequently used landmarks for localization in urban environments due to their local…

Accuracy evaluation of a 3D pointcloud map is crucial for the development of autonomous driving systems. In this work, we propose a user-independent software/hardware system that can quantitatively evaluate the accuracy of a 3D pointcloud…

Understanding and interpreting a 3d environment is a key challenge for autonomous vehicles. Semantic segmentation of 3d point clouds combines 3d information with semantics and thereby provides a valuable contribution to this task. In many…

Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…

Long-term 3D map management is a fundamental capability required by a robot to reliably navigate in the non-stationary real-world. This paper develops open-source, modular, and readily available LiDAR-based lifelong mapping for urban sites.…

We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…