相关论文: Cascading Feature Extraction for Fast Point Cloud …

Segmentation from point cloud data is essential in many applications such as remote sensing, mobile robots, or autonomous cars. However, the point clouds captured by the 3D range sensor are commonly sparse and unstructured, challenging…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

We propose an effective unsupervised 3D point cloud novelty detection approach, leveraging a general point cloud feature extractor and a one-class classifier. The general feature extractor consists of a graph-based autoencoder and is…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…

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…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

3D Point clouds are a rich source of information that enjoy growing popularity in the vision community. However, due to the sparsity of their representation, learning models based on large point clouds is still a challenge. In this work, we…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…

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…

Existing techniques to compress point cloud attributes leverage either geometric or video-based compression tools. We explore a radically different approach inspired by recent advances in point cloud representation learning. Point clouds…

This paper investigates multi-scale feature approximation and transferable features for object detection from point clouds. Multi-scale features are critical for object detection from point clouds. However, multi-scale feature learning…

Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

In this paper, we propose a novel learning-based pipeline for partially overlapping 3D point cloud registration. The proposed model includes an iterative distance-aware similarity matrix convolution module to incorporate information from…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

The recent multi-modality models have achieved great performance in many vision tasks because the extracted features contain the multi-modality knowledge. However, most of the current registration descriptors have only concentrated on local…