相关论文: DH3D: Deep Hierarchical 3D Descriptors for Robust …

3D global relocalization is one of the key capabilities for mobile robots in practical applications. However, in large scale spaces, existing methods often suffer from prolonged online relocalization time due to factors such as the massive…

In this work, we propose a novel method for generating 3D point clouds that leverage properties of hyper networks. Contrary to the existing methods that learn only the representation of a 3D object, our approach simultaneously finds a…

High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…

Image space feature detection is the act of selecting points or parts of an image that are easy to distinguish from the surrounding image region. By combining a repeatable point detection with a descriptor, parts of an image can be matched…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Large-scale LiDAR mappings and localization leverage place recognition techniques to mitigate odometry drifts, ensuring accurate mapping. These techniques utilize scene representations from LiDAR point clouds to identify previously visited…

Keypoint detection is the foundation of many computer vision tasks, including image registration, structure-from-motion, 3D reconstruction, visual odometry, and SLAM. Traditional detectors (SIFT, ORB, BRISK, FAST, etc.) and learning-based…

Building 3D reconstruction from remote sensing images has a wide range of applications in smart cities, photogrammetry and other fields. Methods for automatic 3D urban building modeling typically employ multi-view images as input to…

We present CrossLoc3D, a novel 3D place recognition method that solves a large-scale point matching problem in a cross-source setting. Cross-source point cloud data corresponds to point sets captured by depth sensors with different…

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,…

As a fundamental task for indoor scene understanding, 3D object detection has been extensively studied, and the accuracy on indoor point cloud data has been substantially improved. However, existing researches have been conducted on limited…

Reconstructing 3D models from 2D images is one of the fundamental problems in computer vision. In this work, we propose a deep learning technique for 3D object reconstruction from a single image. Contrary to recent works that either use 3D…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…