相关论文: Metrics for Aerial, Urban LiDAR Point Clouds

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

LiDAR-based 3D point cloud recognition has been proven beneficial in various applications. However, the sparsity and varying density pose a significant challenge in capturing intricate details of objects, particularly for medium-range and…

We present a fully automatic approach for reconstructing compact 3D building models from large-scale airborne point clouds. A major challenge of urban reconstruction from airborne LiDAR point clouds lies in that the vertical walls are…

Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

In the field of robotics, the point cloud has become an essential map representation. From the perspective of downstream tasks like localization and global path planning, points corresponding to dynamic objects will adversely affect their…

LiDAR point clouds contain measurements of complicated natural scenes and can be used to update digital elevation models, glacial monitoring, detecting faults and measuring uplift detecting, forest inventory, detect shoreline and beach…

4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…

Using only lidar or radar an accurate cloud boundary height estimate is often not possible. The combination of lidar and radar can give a reliable cloud boundary estimate in a much broader range of cases. However, also this combination with…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…

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…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

We present the Dayton Annotated LiDAR Earth Scan (DALES) data set, a new large-scale aerial LiDAR data set with over a half-billion hand-labeled points spanning 10 square kilometers of area and eight object categories. Large annotated point…

We introduce an estimator for the curvature of curves and surfaces by using finite sample points drawn from sampling a probability distribution that has support on the curve or surface. First we give an algorithm for estimation of the…