相关论文: Semantic Graph Based Place Recognition for 3D Poin…

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…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Numerous prior studies predominantly emphasize constructing relation vectors for individual neighborhood points and generating dynamic kernels for each vector and embedding these into high-dimensional spaces to capture implicit local…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Retrieval-based place recognition is an efficient and effective solution for re-localization within a pre-built map, or global data association for Simultaneous Localization and Mapping (SLAM). The accuracy of such an approach is heavily…

The rapid progress in 3D scene understanding has come with growing demand for data; however, collecting and annotating 3D scenes (e.g. point clouds) are notoriously hard. For example, the number of scenes (e.g. indoor rooms) that can be…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

We propose a local-to-global representation learning algorithm for 3D point cloud data, which is appropriate to handle various geometric transformations, especially rotation, without explicit data augmentation with respect to the…

In this paper, we propose a novel model called SGFormer, Semantic Graph TransFormer for point cloud-based 3D scene graph generation. The task aims to parse a point cloud-based scene into a semantic structural graph, with the core challenge…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

The visualization of 3D point cloud data is essential in fields such as autonomous navigation, environmental monitoring, and disaster response, where tasks like object recognition, structural analysis, and spatiotemporal exploration rely on…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

An effective 3D descriptor should be invariant to different geometric transformations, such as scale and rotation, robust to occlusions and clutter, and capable of generalising to different application domains. We present a simple yet…

Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…

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

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…

To reduce cost in storing, processing and visualizing a large-scale point cloud, we consider a randomized resampling strategy to select a representative subset of points while preserving application-dependent features. The proposed strategy…

3D dynamic point clouds provide a natural discrete representation of real-world objects or scenes in motion, with a wide range of applications in immersive telepresence, autonomous driving, surveillance, \etc. Nevertheless, dynamic point…