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

Over the past decade, most methods in visual place recognition (VPR) have used neural networks to produce feature representations. These networks typically produce a global representation of a place image using only this image itself and…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

In this work, we propose a novel neural network focusing on semantic labeling of ALS point clouds, which investigates the importance of long-range spatial and channel-wise relations and is termed as global relation-aware attentional network…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

Visual Place Recognition (vPR) plays a crucial role in Unmanned Aerial Vehicle (UAV) navigation, enabling robust localization across diverse environments. Despite significant advancements, aerial vPR faces unique challenges due to the…

Real-scanned point clouds are often incomplete due to viewpoint, occlusion, and noise, which hampers 3D geometric modeling and perception. Existing point cloud completion methods tend to generate global shape skeletons and hence lack fine…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

Despite the remarkable success of deep learning, an optimal convolution operation on point clouds remains elusive owing to their irregular data structure. Existing methods mainly focus on designing an effective continuous kernel function…

Rotation-invariant (RI) 3D deep learning methods suffer performance degradation as they typically design RI representations as input that lose critical global information comparing to 3D coordinates. Most state-of-the-arts address it by…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Existing position based point cloud filtering methods can hardly preserve sharp geometric features. In this paper, we rethink point cloud filtering from a non-learning non-local non-normal perspective, and propose a novel position based…

We present a novel approach to learning a point-wise, meaningful embedding for point-clouds in an unsupervised manner, through the use of neural-networks. The domain of point-cloud processing via neural-networks is rapidly evolving, with…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

A cross-domain visual place recognition (VPR) task is proposed in this work, i.e., matching images of the same architectures depicted in different domains. VPR is commonly treated as an image retrieval task, where a query image from an…

We present a novel deep learning framework for flow field predictions in irregular domains when the solution is a function of the geometry of either the domain or objects inside the domain. Grid vertices in a computational fluid dynamics…

This paper addresses Visual Place Recognition (VPR), which is essential for the safe navigation of mobile robots. The solution we propose employs panoramic images and deep learning models, which are fine-tuned with triplet loss functions…

Visual place recognition is a challenging task for applications such as autonomous driving navigation and mobile robot localization. Distracting elements presenting in complex scenes often lead to deviations in the perception of visual…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Point cloud is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…