相关论文: NDD: A 3D Point Cloud Descriptor Based on Normal D…

In this paper, we propose a novel binary descriptor for 3D point clouds. The proposed descriptor termed as 3D Binary Signature (3DBS) is motivated from the matching efficiency of the binary descriptors for 2D images. 3DBS describes…

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…

Strong evidence suggests that humans perceive the 3D world by parsing visual scenes and objects into part-whole hierarchies. Although deep neural networks have the capability of learning powerful multi-level representations, they can not…

This paper presents a set of novel scan-matching techniques for vehicle pose estimation using automotive radar measurements. The proposed approach modifies the Normal Distributions Transform (NDT) -- a state-of-the-art scan-matching SLAM…

3D motion estimation including scene flow and point cloud registration has drawn increasing interest. Inspired by 2D flow estimation, recent methods employ deep neural networks to construct the cost volume for estimating accurate 3D flow.…

Deep neural networks (DNNs) often exhibit overconfidence when encountering out-of-distribution (OOD) samples, posing significant challenges for deployment. Since DNNs are trained on in-distribution (ID) datasets, the information flow of ID…

In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop closure…

In recent years, point cloud normal estimation, as a classical and foundational algorithm, has garnered extensive attention in the field of 3D geometric processing. Despite the remarkable performance achieved by current Neural Network-based…

4D millimeter wave radars (4D radars) are new emerging sensors that provide point clouds of objects with both position and radial velocity measurements. Compared to LiDARs, they are more affordable and reliable sensors for robots'…

Downsampling and feature extraction are essential procedures for 3D point cloud understanding. Existing methods are limited by the inconsistent point densities of different parts in the point cloud. In this work, we analyze the limitation…

In the past few years we have seen great advances in object perception (particularly in 4D space-time dimensions) thanks to deep learning methods. However, they typically rely on large amounts of high-quality labels to achieve good…

We study an unsupervised domain adaptation problem for the semantic labeling of 3D point clouds, with a particular focus on domain discrepancies induced by different LiDAR sensors. Based on the observation that sparse 3D point clouds are…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…

LiDAR-based 3D sensors provide point clouds, a canonical 3D representation used in various scene understanding tasks. Modern LiDARs face key challenges in several real-world scenarios, such as long-distance or low-albedo objects, producing…

Despite the importance of unsupervised object detection, to the best of our knowledge, there is no previous work addressing this problem. One main issue, widely known to the community, is that object boundaries derived only from 2D image…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Convolutional Neural Networks (CNNs) are nowadays often employed in vision-based perception stacks for safetycritical applications such as autonomous driving or Unmanned Aerial Vehicles (UAVs). Due to the safety requirements in those use…

The goal of open-vocabulary detection is to identify novel objects based on arbitrary textual descriptions. In this paper, we address open-vocabulary 3D point-cloud detection by a dividing-and-conquering strategy, which involves: 1)…

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…