相关论文: Crowd Source Scene Change Detection and Local Map …

Remote sensing scene classification plays a key role in Earth observation by enabling the automatic identification of land use and land cover (LULC) patterns from aerial and satellite imagery. Despite recent progress with convolutional…

We propose a new method of discovering causal structures, based on the detection of local, spontaneous changes in the underlying data-generating model. We analyze the classes of structures that are equivalent relative to a stream of…

Recent advances in self-supervised learning (SSL) for point clouds have substantially improved 3D scene understanding without human annotations. Existing approaches emphasize semantic awareness by enforcing feature consistency across…

3D object detection is a fundamental task in scene understanding. Numerous research efforts have been dedicated to better incorporate Hough voting into the 3D object detection pipeline. However, due to the noisy, cluttered, and partial…

Scene understanding has been of high interest in computer vision. It encompasses not only identifying objects in a scene, but also their relationships within the given context. With this goal, a recent line of works tackles 3D semantic…

Point cloud scene flow estimation is fundamental to long-term and fine-grained 3D motion analysis. However, existing methods are typically limited to pairwise settings and struggle to maintain temporal consistency over long sequences as…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

By enabling capturing of 3D point clouds that reflect the geometry of the immediate environment, LiDAR has emerged as a primary sensor for autonomous systems. If a LiDAR scan is too sparse, occluded by obstacles, or too small in range,…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

We study structural clustering on graphs in dynamic scenarios, where the graphs can be updated by arbitrary insertions or deletions of edges/vertices. The goal is to efficiently compute structural clustering results for any clustering…

LiDAR point clouds have become the most common data source in autonomous driving. However, due to the sparsity of point clouds, accurate and reliable detection cannot be achieved in specific scenarios. Because of their complementarity with…

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…

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…

Standard spatial convolutions assume input data with a regular neighborhood structure. Existing methods typically generalize convolution to the irregular point cloud domain by fixing a regular "view" through e.g. a fixed neighborhood size,…

Although significant progress has been made, achieving place recognition in environments with perspective changes, seasonal variations, and scene transformations remains challenging. Relying solely on perception information from a single…

3D object detection using point clouds has attracted increasing attention due to its wide applications in autonomous driving and robotics. However, most existing studies focus on single point cloud frames without harnessing the temporal…

Visual localization to compute 6DoF camera pose from a given image has wide applications such as in robotics, virtual reality, augmented reality, etc. Two kinds of descriptors are important for the visual localization. One is global…

This paper proposes a novel concept to directly match feature descriptors extracted from 2D images with feature descriptors extracted from 3D point clouds. We use this concept to directly localize images in a 3D point cloud. We generate a…

In this paper, we present a novel, scalable approach for constructing open set, instance-level 3D scene representations, advancing open world understanding of 3D environments. Existing methods require pre-constructed 3D scenes and face…