相关论文: Analyzing Deep Learning Representations of Point C…

The point cloud is gaining prominence as a method for representing 3D shapes, but its irregular format poses a challenge for deep learning methods. The common solution of transforming the data into a 3D voxel grid introduces its own…

The irregularity and permutation invariance of point cloud data pose challenges for effective learning. Conventional methods for addressing this issue involve converting raw point clouds to intermediate representations such as 3D voxel…

In recent years, computer vision has transformed fields such as medical imaging, object recognition, and geospatial analytics. One of the fundamental tasks in computer vision is semantic image segmentation, which is vital for precise object…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

This study investigates the application of PointNet and PointNet++ in the classification of LiDAR-generated point cloud data, a critical component for achieving fully autonomous vehicles. Utilizing a modified dataset from the Lyft 3D Object…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Integrated sensing and communications is a key enabler for the 6G wireless communication systems. The multiple sensing modalities will allow the base station to have a more accurate representation of the environment, leading to…

Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have…

LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…

Most scanning LiDAR sensors generate a sequence of point clouds in real-time. While conventional 3D object detectors use a set of unordered LiDAR points acquired over a fixed time interval, recent studies have revealed that substantial…

It is a crucial step to achieve effective semantic segmentation of lane marking during the construction of the lane level high-precision map. In recent years, many image semantic segmentation methods have been proposed. These methods mainly…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Artificial Neural Networks, an essential part of Deep Learning, are derived from the structure and functionality of the human brain. It has a broad range of applications ranging from medical analysis to automated driving. Over the past few…

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…