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

In this paper, we propose an algorithm to generate a static point cloud map based on LiDAR point cloud data. Our proposed pipeline detects dynamic objects using 3D object detectors and projects points of dynamic objects onto the ground.…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Visual localization is the problem of estimating the camera pose of a given image with respect to a known scene. Visual localization algorithms are a fundamental building block in advanced computer vision applications, including Mixed and…

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,…

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…

We propose the use of a Transformer to accurately predict normals from point clouds with noise and density variations. Previous learning-based methods utilize PointNet variants to explicitly extract multi-scale features at different input…

As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

3D point cloud generation by the deep neural network from a single image has been attracting more and more researchers' attention. However, recently-proposed methods require the objects be captured with relatively clean backgrounds, fixed…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Three-dimensional urban reconstruction of buildings from single-view images has attracted significant attention over the past two decades. However, recent methods primarily focus on rooftops from aerial images, often overlooking essential…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

LiDAR point clouds provide rich geometric information, which is particularly useful for the analysis of complex scenes of urban regions. Finding structural and semantic differences between two different three-dimensional point clouds, say,…

Detecting topographic changes in the urban environment has always been an important task for urban planning and monitoring. In practice, remote sensing data are often available in different modalities and at different time epochs. Change…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…

In this paper, we introduce a novel method for comparing 3D point clouds, a critical task in various machine learning applications. By interpreting point clouds as samples from underlying probability density functions, the statistical…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

Automatic damage assessment based on UAV-derived 3D point clouds can provide fast information on the damage situation after an earthquake. However, the assessment of multiple damage grades is challenging due to the variety in damage…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

To boost a detector for single-frame 3D object detection, we present a new approach to train it to simulate features and responses following a detector trained on multi-frame point clouds. Our approach needs multi-frame point clouds only…