相关论文: PIDS: Joint Point Interaction-Dimension Search for…

Accurate detection of objects in 3D point clouds is a key problem in autonomous driving systems. Collaborative perception can incorporate information from spatially diverse sensors and provide significant benefits for improving the…

In this paper, we propose a novel joint instance and semantic segmentation approach, which is called JSNet, in order to address the instance and semantic segmentation of 3D point clouds simultaneously. Firstly, we build an effective…

3D point cloud segmentation has a wide range of applications in areas such as autonomous driving, augmented reality, virtual reality and digital twins. The point cloud data collected in real scenes often contain small objects and categories…

In this paper, we focus on exploring the fusion of images and point clouds for 3D object detection in view of the complementary nature of the two modalities, i.e., images possess more semantic information while point clouds specialize in…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the…

We achieve 3D semantic scene labeling by exploring semantic relation between each point and its contextual neighbors through edges. Besides an encoder-decoder branch for predicting point labels, we construct an edge branch to hierarchically…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Large-scale point cloud generated from 3D sensors is more accurate than its image-based counterpart. However, it is seldom used in visual pose estimation due to the difficulty in obtaining 2D-3D image to point cloud correspondences. In this…

Recent deep learning models achieve impressive results on 3D scene analysis tasks by operating directly on unstructured point clouds. A lot of progress was made in the field of object classification and semantic segmentation. However, the…

Visual data in autonomous driving perception, such as camera image and LiDAR point cloud, can be interpreted as a mixture of two aspects: semantic feature and geometric structure. Semantics come from the appearance and context of objects to…

Semantic segmentation of 3D point cloud data often comes with high annotation costs. Active learning automates the process of selecting which data to annotate, reducing the total amount of annotation needed to achieve satisfactory…

Similarity search finds objects that are similar to a given query object based on a similarity metric. As the amount and variety of data continue to grow, similarity search in metric spaces has gained significant attention. Metric spaces…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

3D instance segmentation aims to predict a set of object instances in a scene, representing them as binary foreground masks with corresponding semantic labels. Currently, transformer-based methods are gaining increasing attention due to…