相关论文: An Efficient Accelerator for Deep Learning-based P…

Point cloud registration serves as a basis for vision and robotic applications including 3D reconstruction and mapping. Despite significant improvements on the quality of results, recent deep learning approaches are computationally…

LiDAR sensors have been widely used in many autonomous vehicle modalities, such as perception, mapping, and localization. This paper presents an FPGA-based deep learning platform for real-time point cloud processing targeted on autonomous…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Deep learning-based point cloud processing plays an important role in various vision tasks, such as autonomous driving, virtual reality (VR), and augmented reality (AR). The submanifold sparse convolutional network (SSCN) has been widely…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

Path planning is a crucial component for realizing the autonomy of mobile robots. However, due to limited computational resources on mobile robots, it remains challenging to deploy state-of-the-art methods and achieve real-time performance.…

Deep learning on point clouds plays a vital role in a wide range of applications such as autonomous driving and AR/VR. These applications interact with people in real-time on edge devices and thus require low latency and low energy.…

Point cloud processing is a computational bottleneck in autonomous driving systems, especially for real-time applications, while energy efficiency remains a critical system constraint. This work presents FPPS, an FPGA-accelerated point…

Recent advancements in machine learning, particularly through deep learning architectures like PointNet, have transformed the processing of three-dimensional (3D) point clouds, significantly improving 3D object classification and…

Point clouds are a basic data type that is increasingly of interest as 3D content becomes more ubiquitous. Applications using point clouds include virtual, augmented, and mixed reality and autonomous driving. We propose a more efficient…

Point cloud registration aims to provide estimated transformations to align point clouds, which plays a crucial role in pose estimation of various navigation systems, such as surgical guidance systems and autonomous vehicles. Despite the…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

Point-based 3D point cloud models employ computation and memory intensive mapping functions alongside NN layers for classification/segmentation, and are executed on server-grade GPUs. The sparse, and unstructured nature of 3D point cloud…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point cloud is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…

We propose a method for speeding up a 3D point cloud registration through a cascading feature extraction. The current approach with the highest accuracy is realized by iteratively executing feature extraction and registration using deep…

Simultaneous Localization and Mapping (SLAM) estimates agents' trajectories and constructs maps, and localization is a fundamental kernel in autonomous machines at all computing scales, from drones, AR, VR to self-driving cars. In this…

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…

Embedded edge devices are often used as a computing platform to run real-world point cloud applications, but recent deep learning-based methods may not fit on such devices due to limited resources. In this paper, we aim to fill this gap by…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…