相关论文: Multimodal Colored Point Cloud to Image Alignment

In this paper, we propose a monocular 3D object detection framework in the domain of autonomous driving. Unlike previous image-based methods which focus on RGB feature extracted from 2D images, our method solves this problem in the…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Point clouds arising from structured data, mainly as a result of CT scans, provides special properties on the distribution of points and the distances between those. Yet often, the amount of data provided can not compare to unstructured…

3D point cloud generation by the deep neural network from a single image has been attracting more and more researchers' attention. However, recently-proposed methods require the objects be captured with relatively clean backgrounds, fixed…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

Automatic colorization of images without human intervention has been a subject of interest in the machine learning community for a brief period of time. Assigning color to an image is a highly ill-posed problem because of its innate nature…

How can we edit or transform the geometric or color property of a point cloud? In this study, we propose a neural style transfer method for point clouds which allows us to transfer the style of geometry or color from one point cloud either…

Semantic segmentation of 3D point clouds is a challenging problem with numerous real-world applications. While deep learning has revolutionized the field of image semantic segmentation, its impact on point cloud data has been limited so…

Using heterogeneous depth cameras and 3D scanners in 3D face verification causes variations in the resolution of the 3D point clouds. To solve this issue, previous studies use 3D registration techniques. Out of these proposed techniques,…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Targeted color-dots with varying shapes and sizes in images are first exhaustively identified, and then their multiscale 2D geometric patterns are extracted for testing spatial uniformness in a progressive fashion. Based on color theory in…

LiDAR point clouds, which are usually scanned by rotating LiDAR sensors continuously, capture precise geometry of the surrounding environment and are crucial to many autonomous detection and navigation tasks. Though many 3D deep…

To help bridge the gap between internet vision-style problems and the goal of vision for embodied perception we instantiate a large-scale navigation task -- Embodied Question Answering [1] in photo-realistic environments (Matterport 3D). We…

We address a data augmentation problem for LiDAR. Given a LiDAR scan of a scene from some position, how can one simulate new scans of that scene from different, secondary positions? The method defines criteria for selecting valid secondary…

Rigid point cloud registration is a fundamental problem and highly relevant in robotics and autonomous driving. Nowadays deep learning methods can be trained to match a pair of point clouds, given the transformation between them. However,…

This work studies the problem of unsupervised RGB-D point cloud registration, which aims at training a robust registration model without ground-truth pose supervision. Existing methods usually leverages unposed RGB-D sequences and adopt a…

Handling various objects with different colors is a significant challenge for image colorization techniques. Thus, for complex real-world scenes, the existing image colorization algorithms often fail to maintain color consistency. In this…

Existing deep learning methods for the reconstruction and denoising of point clouds rely on small datasets of 3D shapes. We circumvent the problem by leveraging deep learning methods trained on billions of images. We propose a method to…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…