相关论文: MinkLoc3D: Point Cloud Based Large-Scale Place Rec…

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Point clouds are often the default choice for many applications as they exhibit more flexibility and efficiency than volumetric data. Nevertheless, their unorganized nature -- points are stored in an unordered way -- makes them less suited…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

Existing networks directly learn feature representations on 3D point clouds for shape analysis. We argue that 3D point clouds are highly redundant and hold irregular (permutation-invariant) structure, which makes it difficult to achieve…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…

For current object detectors, the scale of the receptive field of feature extraction operators usually increases layer by layer. Those operators are called scale-oriented operators in this paper, such as the convolution layer in CNN, and…

Multi-view projection methods have demonstrated promising performance on 3D understanding tasks like 3D classification and segmentation. However, it remains unclear how to combine such multi-view methods with the widely available 3D point…

Point cloud analysis is challenging due to irregularity and unordered data structure. To capture the 3D geometries, prior works mainly rely on exploring sophisticated local geometric extractors using convolution, graph, or attention…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

Point cloud segmentation and classification are some of the primary tasks in 3D computer vision with applications ranging from augmented reality to robotics. However, processing point clouds using deep learning-based algorithms is quite…

In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate regardless of any changes in the scene, such as seasonal…

The remarkable breakthroughs in point cloud representation learning have boosted their usage in real-world applications such as self-driving cars and virtual reality. However, these applications usually have an urgent requirement for not…

We introduce a discriminative multimodal descriptor based on a pair of sensor readings: a point cloud from a LiDAR and an image from an RGB camera. Our descriptor, named MinkLoc++, can be used for place recognition, re-localization and loop…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

In a constant evolving world, change detection is of prime importance to keep updated maps. To better sense areas with complex geometry (urban areas in particular), considering 3D data appears to be an interesting alternative to classical…