相关论文: GreenPCO: An Unsupervised Lightweight Point Cloud …

Odometry is of key importance for localization in the absence of a map. There is considerable work in the area of visual odometry (VO), and recent advances in deep learning have brought novel approaches to VO, which directly learn salient…

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point's movement. Scene flow estimation is used in various applications such as autonomous driving fields,…

In this paper, we study the problem of 3D object segmentation from raw point clouds. Unlike all existing methods which usually require a large amount of human annotations for full supervision, we propose the first unsupervised method,…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

High-precision lidar odomety is an essential part of autonomous driving. In recent years, deep learning methods have been widely used in lidar odomety tasks, but most of the current methods only extract the global features of the point…

Processing point clouds using deep neural networks is still a challenging task. Most existing models focus on object detection and registration with deep neural networks using point clouds. In this paper, we propose a deep model that learns…

An efficient 3D scene flow estimation method called PointFlowHop is proposed in this work. PointFlowHop takes two consecutive point clouds and determines the 3D flow vectors for every point in the first point cloud. PointFlowHop decomposes…

Using 3D point clouds in odometry estimation in robotics often requires finding a set of correspondences between points in subsequent scans. While there are established methods for point clouds of sufficient quality, state-of-the-art still…

LiDAR odometry (LO) describes the task of finding an alignment of subsequent LiDAR point clouds. This alignment can be used to estimate the motion of the platform where the LiDAR sensor is mounted on. Currently, on the well-known KITTI…

Recent learning-based LiDAR odometry methods have demonstrated their competitiveness. However, most methods still face two substantial challenges: 1) the 2D projection representation of LiDAR data cannot effectively encode 3D structures…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

Point cloud completion aims to recover partial geometric and topological shapes caused by equipment defects or limited viewpoints. Current methods either solely rely on the 3D coordinates of the point cloud to complete it or incorporate…

This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

Recently, learning-based ego-motion estimation approaches have drawn strong interest from studies mostly focusing on visual perception. These groundbreaking works focus on unsupervised learning for odometry estimation but mostly for visual…

Active depth cameras suffer from several limitations, which cause incomplete and noisy depth maps, and may consequently affect the performance of RGB-D Odometry. To address this issue, this paper presents a visual odometry method based on…

Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-made environments, offering an active means to reduce drift,…

The design of a tiny machine learning model, which can be deployed in mobile and edge devices, for point cloud object classification is investigated in this work. To achieve this objective, we replace the multi-scale representation of a…

Point clouds captured by scanning devices are often incomplete due to occlusion. To overcome this limitation, point cloud completion methods have been developed to predict the complete shape of an object based on its partial input. These…