相关论文: RPR-Net: A Point Cloud-based Rotation-aware Large …

In the last few years, Deep Convolutional Neural Networks (D-CNNs) have shown state-of-the-art (SOTA) performance for Visual Place Recognition (VPR), a pivotal component of long-term intelligent robotic vision (vision-aware localization and…

Incomplete point clouds captured by 3D sensors often result in the loss of both geometric and semantic information. Most existing point cloud completion methods are built on rotation-variant frameworks trained with data in canonical poses,…

Learning to predict reliable characteristic orientations of 3D point clouds is an important yet challenging problem, as different point clouds of the same class may have largely varying appearances. In this work, we introduce a novel method…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Image-to-point cloud cross-modal Visual Place Recognition (VPR) is a challenging task where the query is an RGB image, and the database samples are LiDAR point clouds. Compared to single-modal VPR, this approach benefits from the widespread…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

Recently, there has been a significant interest in performing convolution over irregularly sampled point clouds. Since point clouds are very different from regular raster images, it is imperative to study the generalization of the…

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.…

Implicit function based surface reconstruction has been studied for a long time to recover 3D shapes from point clouds sampled from surfaces. Recently, Signed Distance Functions (SDFs) and Occupany Functions are adopted in learning-based…

Place recognition is an important technique for autonomous cars to achieve full autonomy since it can provide an initial guess to online localization algorithms. Although current methods based on images or point clouds have achieved…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…

Recently, many deep neural networks were designed to process 3D point clouds, but a common drawback is that rotation invariance is not ensured, leading to poor generalization to arbitrary orientations. In this paper, we introduce a new…

We present PPF-FoldNet for unsupervised learning of 3D local descriptors on pure point cloud geometry. Based on the folding-based auto-encoding of well known point pair features, PPF-FoldNet offers many desirable properties: it necessitates…

Recent interest in point cloud analysis has led rapid progress in designing deep learning methods for 3D models. However, state-of-the-art models are not robust to rotations, which remains an unknown prior to real applications and harms the…

Point cloud registration is an important task in robotics and autonomous driving to estimate the ego-motion of the vehicle. Recent advances following the coarse-to-fine manner show promising potential in point cloud registration. However,…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

Learning and selecting important points on a point cloud is crucial for point cloud understanding in various applications. Most of early methods selected the important points on 3D shapes by analyzing the intrinsic geometric properties of…