相关论文: Graph-theoretical approach to robust 3D normal ext…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

This paper addresses the problem of compression of 3D point cloud sequences that are characterized by moving 3D positions and color attributes. As temporally successive point cloud frames are similar, motion estimation is key to effective…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

We propose a time-varying graph signal recovery method for estimating the true time-varying graph signal from corrupted observations by leveraging dynamic graphs. Most of the conventional methods for time-varying graph signal recovery have…

Learning a graph topology to reveal the underlying relationship between data entities plays an important role in various machine learning and data analysis tasks. Under the assumption that structured data vary smoothly over a graph, the…

3D Point clouds (PCs) are commonly used to represent 3D scenes. They can have millions of points, making subsequent downstream tasks such as compression and streaming computationally expensive. PC sampling (selecting a subset of points) can…

3D point clouds of natural environments relevant to problems in geomorphology often require classification of the data into elementary relevant classes. A typical example is the separation of riparian vegetation from ground in fluvial…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

3D object Detection with LiDAR-camera encounters overfitting in algorithm development which is derived from the violation of some fundamental rules. We refer to the data annotation in dataset construction for theory complementing and argue…

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…

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…

Routing optimization is a relevant problem in many contexts. Solving directly this type of optimization problem is often computationally unfeasible. Recent studies suggest that one can instead turn this problem into one of solving a…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

Graph compression is a data analysis technique that consists in the replacement of parts of a graph by more general structural patterns in order to reduce its description length. It notably provides interesting exploration tools for the…

Robust and lane-level positioning is essential for autonomous vehicles. As an irreplaceable sensor, LiDAR can provide continuous and high-frequency pose estimation by means of mapping, on condition that enough environment features are…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for…

Graph coarsening is a widely used dimensionality reduction technique for approaching large-scale graph machine learning problems. Given a large graph, graph coarsening aims to learn a smaller-tractable graph while preserving the properties…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Geometric graphs form an important family of hidden structures behind data. In this paper, we develop an efficient and robust algorithm to infer a graph skeleton of a high-dimensional point cloud dataset (PCD). Previously, there has been…