相关论文: WGICP: Differentiable Weighted GICP-Based Lidar Od…

Deep image prior (DIP) proposed in recent research has revealed the inherent trait of convolutional neural networks (CNN) for capturing substantial low-level image statistics priors. This framework efficiently addresses the inverse problems…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

Scan undistortion is a key module for LiDAR odometry in high dynamic environment with high rotation and translation speed. The existing line of studies mostly focuses on one pass undistortion, which means undistortion for each point is…

This paper is about 3D pose estimation on LiDAR scans with extremely minimal storage requirements to enable scalable mapping and localisation. We achieve this by clustering all points of segmented scans into semantic objects and…

Recently, several studies proposed methods to utilize some classes of optimization problems in designing deep neural networks to encode constraints that conventional layers cannot capture. However, these methods are still in their infancy…

Reconstructing large-scale colored point clouds is an important task in robotics, supporting perception, navigation, and scene understanding. Despite advances in LiDAR inertial visual odometry (LIVO), its performance remains highly…

Deep learning-based appearance gaze estimation methods are gaining popularity due to their high accuracy and fewer constraints from the environment. However, existing high-precision models often rely on deeper networks, leading to problems…

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

Person re-identification (reID) aims at retrieving a person from images captured by different cameras. For deep-learning-based reID methods, it has been proved that using local features together with global feature could help to give robust…

We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an…

LiDAR Simultaneous Localization and Mapping (SLAM) systems are essential for enabling precise navigation and environmental reconstruction across various applications. Although current point-to-plane ICP algorithms perform effec- tively in…

Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…

We study differentially private (DP) machine learning algorithms as instances of noisy fixed-point iterations, in order to derive privacy and utility results from this well-studied framework. We show that this new perspective recovers…

While 2D object detection has improved significantly over the past, real world applications of computer vision often require an understanding of the 3D layout of a scene. Many recent approaches to 3D detection use LiDAR point clouds for…

In this paper, we introduce a LiDAR-based robot navigation system, based on novel object-aware affordance-based costmaps. Utilizing a 3D object detection network, our system identifies objects of interest in LiDAR keyframes, refines their…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

We introduce the Differentiable Weightless Neural Network (DWN), a model based on interconnected lookup tables. Training of DWNs is enabled by a novel Extended Finite Difference technique for approximate differentiation of binary values. We…

This paper presents a novel semantic-based online extrinsic calibration approach, SOIC (so, I see), for Light Detection and Ranging (LiDAR) and camera sensors. Previous online calibration methods usually need prior knowledge of rough…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…