相关论文: Efficient divide-and-conquer registration of UAV a…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

A fast and accurate panoptic segmentation system for LiDAR point clouds is crucial for autonomous driving vehicles to understand the surrounding objects and scenes. Existing approaches usually rely on proposals or clustering to segment…

In recent years, terrestrial laser scanning technology has been widely used to collect tree point cloud data, aiding in measurements of diameter at breast height, biomass, and other forestry survey data. Since a single scan from terrestrial…

Accurate semantic segmentation of terrestrial laser scanning (TLS) point clouds is limited by costly manual annotation. We propose a semi-automated, uncertainty-aware pipeline that integrates spherical projection, feature enrichment,…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Scene understanding based on LiDAR point cloud is an essential task for autonomous cars to drive safely, which often employs spherical projection to map 3D point cloud into multi-channel 2D images for semantic segmentation. Most existing…

Middle-echo, which covers one or a few corresponding points, is a specific type of 3D point cloud acquired by a multi-echo laser scanner. In this paper, we propose a novel approach for automatic segmentation of trees that leverages…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

The creation of precise and high-resolution crop point clouds in agricultural fields has become a key challenge for high-throughput phenotyping applications. This work implements a novel calibration method to calibrate the laser scanning…

Mapping field environments into point clouds using a 3D LIDAR has the ability to become a new approach for online estimation of crop biomass in the field. The estimation of crop biomass in agriculture is expected to be closely correlated to…

Many LiDAR place recognition systems have been developed and tested specifically for urban driving scenarios. Their performance in natural environments such as forests and woodlands have been studied less closely. In this paper, we analyzed…

Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…

Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…

Compact UAV systems, while advancing delivery and surveillance, pose significant security challenges due to their small size, which hinders detection by traditional methods. This paper presents a cost-effective, unsupervised UAV detection…

Autonomous harvesting and transportation is a long-term goal of the forest industry. One of the main challenges is the accurate localization of both vehicles and trees in a forest. Forests are unstructured environments where it is difficult…

Land Use Land Cover (LULC) classification is essential for national 3D mapping, geospatial analysis, and sustainable planning. Multispectral (MS) LiDAR provides synchronized spatial-spectral information, and deep learning (DL) enables 3D…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

This paper introduces a fast and efficient segmentation technique for 2D images and 3D point clouds of building facades. Facades of buildings are highly structured and consequently most methods that have been proposed for this problem aim…

Sensing the medical scenario can ensure the safety during the surgical operations. So, in this regard, a monitor platform which can obtain the accurate location information of the surgery room is desperately needed. Compared to 2D camera…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…