相关论文: Efficient LiDAR Point Cloud Geometry Compression T…

While CNNs naturally lend themselves to densely sampled data, and sophisticated implementations are available, they lack the ability to efficiently process sparse data. In this work we introduce a suite of tools that exploit sparsity in…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Liquid argon time projection chambers are often used in neutrino physics and dark-matter searches because of their high spatial resolution. The images generated by these detectors are extremely sparse, as the energy values detected by most…

The recently developed pure Transformer architectures have attained promising accuracy on point cloud learning benchmarks compared to convolutional neural networks. However, existing point cloud Transformers are computationally expensive…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

This paper describes an optimized single-stage deep convolutional neural network to detect objects in urban environments, using nothing more than point cloud data. This feature enables our method to work regardless the time of the day and…

Building extraction from aerial images has several applications in problems such as urban planning, change detection, and disaster management. With the increasing availability of data, Convolutional Neural Networks (CNNs) for semantic…

This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

3D object detection in point cloud data remains a challenging task due to the sparsity and lack of global structure inherent in the input. In this work, we propose a novel Multi-Scale Attention (MSA) mechanism integrated into the 3DETR…

Neighborhood attention reduces the cost of self attention by restricting each token's attention span to its nearest neighbors. This restriction, parameterized by a window size and dilation factor, draws a spectrum of possible attention…

The evolution of 3D visualization techniques has fundamentally transformed how we interact with digital content. At the forefront of this change is point cloud technology, offering an immersive experience that surpasses traditional 2D…

Recently, introducing Tensor Decomposition (TD) techniques into unsupervised feature selection (UFS) has been an emerging research topic. A tensor structure is beneficial for mining the relations between different modes and helps relieve…

Recently, Vision Transformers (ViTs) have attracted a lot of attention in the field of computer vision. Generally, the powerful representative capacity of ViTs mainly benefits from the self-attention mechanism, which has a high computation…

Because LiDAR sensors acquire point clouds with a fixed angular resolution, the resulting data can be systematically parameterized and efficiently compressed in the spherical coordinate system. Traditional spherical coordinate-based point…

3D object detection from LiDAR data for autonomous driving has been making remarkable strides in recent years. Among the state-of-the-art methodologies, encoding point clouds into a bird's eye view (BEV) has been demonstrated to be both…

This work leverages the continuous sweeping motion of LiDAR scanning to concentrate object detection efforts on specific regions that receive a change in point data from one frame to another. We achieve this by using a sliding time window…

Transformers are the mainstream of NLP applications and are becoming increasingly popular in other domains such as Computer Vision. Despite the improvements in model quality, the enormous computation costs make Transformers difficult at…

Joint compression of point cloud geometry and attributes is essential for efficient 3D data representation. Existing methods often rely on post-hoc recoloring procedures and manually tuned bitrate allocation between geometry and attribute…