相关论文: Simulated LiDAR Repositioning: a novel point cloud…

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…

Structure from Motion (SfM) often fails to estimate accurate poses in environments that lack suitable visual features. In such cases, the quality of the final 3D mesh, which is contingent on the accuracy of those estimates, is reduced. One…

Spinning LiDAR data are prevalent for 3D vision tasks. Since LiDAR data is presented in the form of point clouds, expensive 3D operations are usually required. This paper revisits spinning LiDAR scan formation and presents a cylindrical…

Increasing the density of the 3D LiDAR point cloud is appealing for many applications in robotics. However, high-density LiDAR sensors are usually costly and still limited to a level of coverage per scan (e.g., 128 channels). Meanwhile,…

Using a series of detector measurements taken at different locations to localize a source of radiation is a well-studied problem. The source of radiation is sometimes constrained to a single point-like source, in which case the location of…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

We present an approach to inform the reconstruction of a surface from a point scan through topological priors. The reconstruction is based on basis functions which are optimized to provide a good fit to the point scan while satisfying…

To train a well performing neural network for semantic segmentation, it is crucial to have a large dataset with available ground truth for the network to generalize on unseen data. In this paper we present novel point cloud augmentation…

LiDAR sensors play an important role in the perception stack of modern autonomous driving systems. Adverse weather conditions such as rain, fog and dust, as well as some (occasional) LiDAR hardware fault may cause the LiDAR to produce…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

A number of applications, such as mobile robots or automated vehicles, use LiDAR sensors to obtain detailed information about their three-dimensional surroundings. Many methods use image-like projections to efficiently process these LiDAR…

State-of-the-art methods for driving-scene LiDAR-based perception (including point cloud semantic segmentation, panoptic segmentation and 3D detection, \etc) often project the point clouds to 2D space and then process them via 2D…

We present an efficient and automatic approach for accurate reconstruction of instances of big 3D objects from multiple, unorganized and unstructured point clouds, in presence of dynamic clutter and occlusions. In contrast to conventional…

Distribution-to-distribution (D2D) point cloud registration techniques such as the Normal Distributions Transform (NDT) can align point clouds sampled from unstructured scenes and provide accurate bounds of their own solution error…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…

We present a comprehensive survey and benchmark of both traditional and learning-based methods for surface reconstruction from point clouds. This task is particularly challenging for real-world acquisitions due to factors such as noise,…