相关论文: A Fast Point Cloud Ground Segmentation Approach Ba…

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…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

3D point cloud semantic segmentation aims to group all points into different semantic categories, which benefits important applications such as point cloud scene reconstruction and understanding. Existing supervised point cloud semantic…

Rigorous crop counting is crucial for effective agricultural management and informed intervention strategies. However, in outdoor field environments, partial occlusions combined with inherent ambiguity in distinguishing clustered crops from…

Sky/cloud images obtained from ground-based sky-cameras are usually captured using a fish-eye lens with a wide field of view. However, the sky exhibits a large dynamic range in terms of luminance, more than a conventional camera can…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

We study the problem of efficient semantic segmentation of large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained and…

In this paper we present a novel slanted-plane MRF model which reasons jointly about occlusion boundaries as well as depth. We formulate the problem as the one of inference in a hybrid MRF composed of both continuous (i.e., slanted 3D…

One popular approach to interactively segment the foreground object of interest from an image is to annotate a bounding box that covers the foreground object. Then, a binary labeling is performed to achieve a refined segmentation. One major…

This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…

Nowadays, there are many approaches to acquire three-dimensional (3D) point clouds of maize plants. However, automatic stem-leaf segmentation of maize shoots from three-dimensional (3D) point clouds remains challenging, especially for new…

This paper presents a novel architecture for point cloud road user detection, which is based on a classical point cloud proposal generator approach, that utilizes simple geometrical rules. New methods are coupled with this technique to…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

Semantic segmentation of LiDAR point clouds is an important task in autonomous driving. However, training deep models via conventional supervised methods requires large datasets which are costly to label. It is critical to have…

Ground segmentation of point clouds remains challenging because of the sparse and unordered data structure. This paper proposes the GSECnet - Ground Segmentation network for Edge Computing, an efficient ground segmentation framework of…

Although extensive research has been conducted on 3D point cloud segmentation, effectively adapting generic models to novel categories remains a formidable challenge. This paper proposes a novel approach to improve point cloud few-shot…

As bone and air produce weak signals with conventional MR sequences, segmentation of these tissues particularly difficult in MRI. We propose to integrate patch-based anatomical signatures and an auto-context model into a machine learning…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…