相关论文: DV-Det: Efficient 3D Point Cloud Object Detection …

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Representing 3D shape in deep learning frameworks in an accurate, efficient and compact manner still remains an open challenge. Most existing work addresses this issue by employing voxel-based representations. While these approaches benefit…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Accurate rail location is a crucial part in the railway support driving system for safety monitoring. LiDAR can obtain point clouds that carry 3D information for the railway environment, especially in darkness and terrible weather…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

3D object tracking in point clouds is still a challenging problem due to the sparsity of LiDAR points in dynamic environments. In this work, we propose a Siamese voxel-to-BEV tracker, which can significantly improve the tracking performance…

We introduce PointGauss, a novel point cloud-guided framework for real-time multi-object segmentation in Gaussian Splatting representations. Unlike existing methods that suffer from prolonged initialization and limited multi-view…

To facilitate depth-based 3D action recognition, 3D dynamic voxel (3DV) is proposed as a novel 3D motion representation. With 3D space voxelization, the key idea of 3DV is to encode 3D motion information within depth video into a regular…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

This paper presents a very simple but efficient algorithm for 3D line segment detection from large scale unorganized point cloud. Unlike traditional methods which usually extract 3D edge points first and then link them to fit for 3D line…

We present a simple and effective framework, named Point2Seq, for 3D object detection from point clouds. In contrast to previous methods that normally {predict attributes of 3D objects all at once}, we expressively model the…

Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Object detection and classification is one of the most important computer vision problems. Ever since the introduction of deep learning \cite{krizhevsky2012imagenet}, we have witnessed a dramatic increase in the accuracy of this object…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics. As a dominating technique in AI, deep learning has been successfully used…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…