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

This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…

As an essential procedure of data fusion, LiDAR-camera calibration is critical for autonomous vehicles and robot navigation. Most calibration methods rely on hand-crafted features and require significant amounts of extracted features or…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

State-of-the-art single depth image-based 3D hand pose estimation methods are based on dense predictions, including voxel-to-voxel predictions, point-to-point regression, and pixel-wise estimations. Despite the good performance, those…

We propose $\textit{weighted inner product similarity}$ (WIPS) for neural network-based graph embedding. In addition to the parameters of neural networks, we optimize the weights of the inner product by allowing positive and negative…

This paper introduces enhancements to the K-means and K-nearest neighbors (KNN) algorithms based on the concept of Gini prametric spaces, instead of traditional metric spaces. Unlike standard distance metrics, Gini prametrics incorporate…

Although convolutional representation of multiscale sparse tensor demonstrated its superior efficiency to accurately model the occupancy probability for the compression of geometry component of dense object point clouds, its capacity for…

We introduce Deep Set Linearized Optimal Transport, an algorithm designed for the efficient simultaneous embedding of point clouds into an $L^2-$space. This embedding preserves specific low-dimensional structures within the Wasserstein…

LiDAR-based 3D detectors need large datasets for training, yet they struggle to generalize to novel domains. Domain Generalization (DG) aims to mitigate this by training detectors that are invariant to such domain shifts. Current DG…

Airborne light detection and ranging (LiDAR) plays an increasingly significant role in urban planning, topographic mapping, environmental monitoring, power line detection and other fields thanks to its capability to quickly acquire…

Lidar data can be used to generate point clouds for the navigation of autonomous vehicles or mobile robotics platforms. Scan matching, the process of estimating the rigid transformation that best aligns two point clouds, is the basis for…

Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…

We introduce a novel weighted convolution operator that enhances traditional convolutional neural networks (CNNs) by integrating a spatial density function into the convolution operator. This extension enables the network to differentially…

In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline…

We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…

Object detection and semantic segmentation with the 3D lidar point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation…

Visual odometry aims to track the incremental motion of an object using the information captured by visual sensors. In this work, we study the point cloud odometry problem, where only the point cloud scans obtained by the LiDAR (Light…

We propose a surface fitting method for unstructured 3D point clouds. This method, called DeepFit, incorporates a neural network to learn point-wise weights for weighted least squares polynomial surface fitting. The learned weights act as a…

High-precision lidar odomety is an essential part of autonomous driving. In recent years, deep learning methods have been widely used in lidar odomety tasks, but most of the current methods only extract the global features of the point…

Graph neural networks (GNNs) have been popularly used in analyzing graph-structured data, showing promising results in various applications such as node classification, link prediction and network recommendation. In this paper, we present a…