相关论文: Intensity Harmonization for Airborne LiDAR

The precision of unsupervised point cloud registration methods is typically limited by the lack of reliable inlier estimation and self-supervised signal, especially in partially overlapping scenarios. In this paper, we propose an effective…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…

Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…

Recent development of 3D sensors allows the acquisition of extremely dense 3D point clouds of large-scale scenes. The main challenge of processing such large point clouds remains in the size of the data, which induce expensive computational…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

One key vertical application that will be enabled by 6G is the automation of the processes with the increased use of robots. As a result, sensing and localization of the surrounding environment becomes a crucial factor for these robots to…

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…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

The complementary fusion of light detection and ranging (LiDAR) data and image data is a promising but challenging task for generating high-precision and high-density point clouds. This study proposes an innovative LiDAR-guided stereo…

The primary requirement for cross-modal data fusion is the precise alignment of data from different sensors. However, the calibration between LiDAR point clouds and camera images is typically time-consuming and needs external calibration…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…

Point cloud obtained from 3D scanning is often sparse, noisy, and irregular. To cope with these issues, recent studies have been separately conducted to densify, denoise, and complete inaccurate point cloud. In this paper, we advocate that…

Generating realistic and diverse LiDAR point clouds is crucial for autonomous driving simulation. Although previous methods achieve LiDAR point cloud generation from user inputs, they struggle to attain high-quality results while enabling…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

Point clouds have grown in importance in the way computers perceive the world. From LIDAR sensors in autonomous cars and drones to the time of flight and stereo vision systems in our phones, point clouds are everywhere. Despite their…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…