相关论文: NDT-Transformer: Large-Scale 3D Point Cloud Locali…

We present CrossLoc3D, a novel 3D place recognition method that solves a large-scale point matching problem in a cross-source setting. Cross-source point cloud data corresponds to point sets captured by depth sensors with different…

The convenience of 3D sensors has led to an increase in the use of 3D point clouds in various applications. However, the differences in acquisition devices or scenarios lead to divergence in the data distribution of point clouds, which…

Although the application of Transformers in 3D point cloud processing has achieved significant progress and success, it is still challenging for existing 3D Transformer methods to efficiently and accurately learn both valuable global…

A fundamental challenge in point cloud object detection lies in the conflict between the extreme sparsity of distant points and the need for remote context understanding. The existing methods typically use 1D serialization to expand the…

Self-attention networks have revolutionized natural language processing and are making impressive strides in image analysis tasks such as image classification and object detection. Inspired by this success, we investigate the application of…

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…

LiDAR is an important method for autonomous driving systems to sense the environment. The point clouds obtained by LiDAR typically exhibit sparse and irregular distribution, thus posing great challenges to the detection of 3D objects,…

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point…

While the Transformer architecture has become ubiquitous in the machine learning field, its adaptation to 3D shape recognition is non-trivial. Due to its quadratic computational complexity, the self-attention operator quickly becomes…

As point cloud data increases in prevalence in a variety of applications, the ability to detect out-of-distribution (OOD) point cloud objects becomes critical for ensuring model safety and reliability. However, this problem remains…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

LiDAR-based 3D point cloud recognition has benefited various applications. Without specially considering the LiDAR point distribution, most current methods suffer from information disconnection and limited receptive field, especially for…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Place recognition is a core component of Simultaneous Localization and Mapping (SLAM) algorithms. Particularly in visual SLAM systems, previously-visited places are recognized by measuring the appearance similarity between images…

In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

3D object detection is a crucial research topic in computer vision, which usually uses 3D point clouds as input in conventional setups. Recently, there is a trend of leveraging multiple sources of input data, such as complementing the 3D…

In autonomous driving, 3D object detection based on multi-modal data has become an indispensable approach when facing complex environments around the vehicle. During multi-modal detection, LiDAR and camera are simultaneously applied for…

Transformer-based models have significantly advanced natural language processing and computer vision in recent years. However, due to the irregular and disordered structure of point cloud data, transformer-based models for 3D deep learning…

Recently, deep neural networks have made remarkable achievements in 3D point cloud classification. However, existing classification methods are mainly implemented on idealized point clouds and suffer heavy degradation of per-formance on…

Deep learning techniques for point clouds have achieved strong performance on a range of 3D vision tasks. However, it is costly to annotate large-scale point sets, making it critical to learn generalizable representations that can transfer…