相关论文: City-scale Scene Change Detection using Point Clou…

With the vigorous development of the urban construction industry, engineering deformation or changes often occur during the construction process. To combat this phenomenon, it is necessary to detect changes in order to detect construction…

As scene changes with time map descriptors become outdated, affecting VPS localization accuracy. In this work, we propose an approach to detect structural and texture scene changes to be followed by map update. In our method - map includes…

Localization and navigation are basic robotic tasks requiring an accurate and up-to-date map to finish these tasks, with crowdsourced data to detect map changes posing an appealing solution. Collecting and processing crowdsourced data…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

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…

This paper presents a novel method for detecting scene changes from a pair of images with a difference of camera viewpoints using a dense optical flow based change detection network. In the case that camera poses of input images are fixed…

Building change detection is essential for monitoring urbanization, disaster assessment, urban planning and frequently updating the maps. 3D structure information from airborne light detection and ranging (LiDAR) is very effective for…

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway…

Many 3D vision systems localize cameras within a scene using 3D point clouds. Such point clouds are often obtained using structure from motion (SfM), after which the images are discarded to preserve privacy. In this paper, we show, for the…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

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…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

High-definition 3D city maps enable city planning and change detection, which is essential for municipal compliance, map maintenance, and asset monitoring, including both built structures and urban greenery. Conventional Digital Surface…

We present a novel, training-free approach to scene change detection. Our method leverages tracking models, which inherently perform change detection between consecutive frames of video by identifying common objects and detecting new or…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Scene Change Detection is a challenging task in computer vision and robotics that aims to identify differences between two images of the same scene captured at different times. Traditional change detection methods rely on training models…

Change detection plays a vital role in scene monitoring, exploration, and continual reconstruction. Existing 3D change detection methods often exhibit spatial inconsistency in the detected changes and fail to explicitly separate pre- and…

Smart monitoring using three-dimensional (3D) image sensors has been attracting attention in the context of smart cities. In smart monitoring, object detection from point cloud data acquired by 3D image sensors is implemented for detecting…

In this paper, we present Position-to-Structure Attention Transformers (PS-Former), a Transformer-based algorithm for 3D point cloud recognition. PS-Former deals with the challenge in 3D point cloud representation where points are not…

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…