相关论文: Robust Extrinsic Symmetry Estimation in 3D Point C…

Photometric Stereo methods seek to reconstruct the 3d shape of an object from motionless images obtained with varying illumination. Most existing methods solve a restricted problem where the physical reflectance model, such as Lambertian…

Being able to reverse engineer from point cloud data to obtain 3D models is important in modeling. As our main contribution, we present a new method to obtain a tensor product B-spline representation from point cloud data by fitting…

Reconstruction of a continuous surface of two-dimensional manifold from its raw, discrete point cloud observation is a long-standing problem. The problem is technically ill-posed, and becomes more difficult considering that various sensing…

This paper presents a point cloud downsampling algorithm for fast and accurate trajectory optimization based on global registration error minimization. The proposed algorithm selects a weighted subset of residuals of the input point cloud…

Automated symmetry detection is still a difficult task in 2021. However, it has applications in computer vision, and it also plays an important part in understanding art. This paper focuses on aiding the latter by comparing different…

Reflectional symmetry is ubiquitous in nature. While extrinsic reflectional symmetry can be easily parametrized and detected, intrinsic symmetry is much harder due to the high solution space. Previous works usually solve this problem by…

Recent years have witnessed the surge of learned representations that directly build upon point clouds. Though becoming increasingly expressive, most existing representations still struggle to generate ordered point sets. Inspired by…

Although semi-dense Simultaneous Localization and Mapping (SLAM) has been becoming more popular over the last few years, there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we…

In this paper, we introduce a new outlier removal method that fully leverages geometric and semantic information, to achieve robust registration. Current semantic-based registration methods only use semantics for point-to-point or instance…

Point clouds have been recognized as a crucial data structure for 3D content and are essential in a number of applications such as virtual and mixed reality, autonomous driving, cultural heritage, etc. In this paper, we propose a set of…

Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

With the advent of autonomous vehicles, LiDAR and cameras have become an indispensable combination of sensors. They both provide rich and complementary data which can be used by various algorithms and machine learning to sense and make…

Anomaly detection is a long-standing challenge in manufacturing systems. Traditionally, anomaly detection has relied on human inspectors. However, 3D point clouds have gained attention due to their robustness to environmental factors and…

Symmetry is a fundamental concept that has been extensively studied, yet detecting it in complex scenes remains a significant challenge in computer vision. Recent heatmap-based approaches can localize potential regions of symmetry axes but…

We propose a level-set-based semi-Lagrangian method on graded adaptive Cartesian grids to address the problem of surface reconstruction from point clouds. The goal is to obtain an implicit, high-quality representation of real shapes that…

Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…

We present an endpoint box regression module(epBRM), which is designed for predicting precise 3D bounding boxes using raw LiDAR 3D point clouds. The proposed epBRM is built with sequence of small networks and is computationally lightweight.…

Existing normal estimation methods for point clouds are often less robust to severe noise and complex geometric structures. Also, they usually ignore the contributions of different neighbouring points during normal estimation, which leads…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…