相关论文: Intensity Harmonization for Airborne LiDAR

This paper designs a technique route to generate high-quality panoramic image with depth information, which involves two critical research hotspots: fusion of LiDAR and image data and image stitching. For the fusion of 3D points and image…

In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…

Acquiring accurate three-dimensional depth information conventionally requires expensive multibeam LiDAR devices. Recently, researchers have developed a less expensive option by predicting depth information from two-dimensional color…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representation is now commonly used in 3D reconstruction tasks relying on…

In this paper, a global descriptor for a LiDAR point cloud, called LiDAR Iris, is proposed for fast and accurate loop-closure detection. A binary signature image can be obtained for each point cloud after several LoG-Gabor filtering and…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

Fusing 3D LiDAR features with 2D camera features is a promising technique for enhancing the accuracy of 3D detection, thanks to their complementary physical properties. While most of the existing methods focus on directly fusing camera…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

Convolutional neural networks (CNNs) have become increasingly popular for solving a variety of computer vision tasks, ranging from image classification to image segmentation. Recently, autonomous vehicles have created a demand for depth…

We present a learning-based approach to reconstruct buildings as 3D polygonal meshes from airborne LiDAR point clouds. What makes 3D building reconstruction from airborne LiDAR hard is the large diversity of building designs and especially…

Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower…

Stereo-LiDAR fusion is a promising task in that we can utilize two different types of 3D perceptions for practical usage -- dense 3D information (stereo cameras) and highly-accurate sparse point clouds (LiDAR). However, due to their…

Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…

The need for fine-grained perception in autonomous driving systems has resulted in recently increased research on online semantic segmentation of single-scan LiDAR. Despite the emerging datasets and technological advancements, it remains…

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…