相关论文: 2D-3D Geometric Fusion Network using Multi-Neighbo…

State-of-the-art methods for large-scale driving-scene LiDAR segmentation often project the point clouds to 2D space and then process them via 2D convolution. Although this corporation shows the competitiveness in the point cloud, it…

Point clouds captured by different sensors such as RGB-D cameras and LiDAR possess non-negligible domain gaps. Most existing methods design different network architectures and train separately on point clouds from various sensors.…

We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

Feature related particle data analysis plays an important role in many scientific applications such as fluid simulations, cosmology simulations and molecular dynamics. Compared to conventional methods that use hand-crafted feature…

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

Deep Convolutional Neural Networks (CNNs) are capable of learning unprecedentedly effective features from images. Some researchers have struggled to enhance the parameters' efficiency using grouped convolution. However, the relation between…

In this paper, we propose a method using the fusion of CNN and transformer structure to improve image classification performance. In the case of CNN, information about a local area on an image can be extracted well, but there is a limit to…

Understanding the motion states of the surrounding environment is critical for safe autonomous driving. These motion states can be accurately derived from scene flow, which captures the three-dimensional motion field of points. Existing…

This paper presents Multi-view Labelling Object Detector (MLOD). The detector takes an RGB image and a LIDAR point cloud as input and follows the two-stage object detection framework. A Region Proposal Network (RPN) generates 3D proposals…

Multimodal deep sensor fusion has the potential to enable autonomous vehicles to visually understand their surrounding environments in all weather conditions. However, existing deep sensor fusion methods usually employ convoluted…

This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…

Point cloud registration aims at estimating the geometric transformation between two point cloud scans, in which point-wise correspondence estimation is the key to its success. In addition to previous methods that seek correspondences by…

We present an efficient neural 3D scene representation for novel-view synthesis (NVS) in large-scale, dynamic urban areas. Existing works are not well suited for applications like mixed-reality or closed-loop simulation due to their limited…

Multi-session map merging is crucial for extended autonomous operations in large-scale environments. In this paper, we present GMLD, a learning-based local descriptor framework for large-scale multi-session point cloud map merging that…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose.…

Recent advances in radiance fields and novel view synthesis enable creation of realistic digital twins from photographs. However, current methods struggle with flat, texture-less surfaces, creating uneven and semi-transparent…

We present a novel global representation of 3D shapes, suitable for the application of 2D CNNs. We represent 3D shapes as multi-layered height-maps (MLH) where at each grid location, we store multiple instances of height maps, thereby…

Encouraged by the success of Convolutional Neural Networks (CNNs) in image classification, recently much effort is spent on applying CNNs to video based action recognition problems. One challenge is that video contains a varying number of…