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LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

This paper presents TE-NeXt, a novel and efficient architecture for Traversability Estimation (TE) from sparse LiDAR point clouds based on a residual convolution block. TE-NeXt block fuses notions of current trends such as attention…

Instance segmentation in 3D scenes is fundamental in many applications of scene understanding. It is yet challenging due to the compound factors of data irregularity and uncertainty in the numbers of instances. State-of-the-art methods…

Performances on standard 3D point cloud benchmarks have plateaued, resulting in oversized models and complex network design to make a fractional improvement. We present an alternative to enhance existing deep neural networks without any…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

Instance segmentation in point clouds is one of the most fine-grained ways to understand the 3D scene. Due to its close relationship to semantic segmentation, many works approach these two tasks simultaneously and leverage the benefits of…

Numerous prior studies predominantly emphasize constructing relation vectors for individual neighborhood points and generating dynamic kernels for each vector and embedding these into high-dimensional spaces to capture implicit local…

The small scale of urban farms and the commercial availability of low-cost robots (such as the FarmBot) that automate simple tending tasks enable an accessible platform for plant phenotyping. We have used a FarmBot with a custom camera…

The quality of GAN-generated images on the MNIST dataset was explored in this paper by comparing them to the original images using t-distributed stochastic neighbor embedding (t- SNE) visualization. A GAN was trained with the dataset to…

Widely used pipelines for analyzing high-dimensional data utilize two-dimensional visualizations. These are created, for instance, via t-distributed stochastic neighbor embedding (t-SNE). A crucial element of the t-SNE embedding procedure…

Node embeddings are a paradigm in non-parametric graph representation learning, where graph nodes are embedded into a given vector space to enable downstream processing. State-of-the-art node-embedding algorithms, such as DeepWalk and…

Identifying and classifying underground utilities is an important task for efficient and effective urban planning and infrastructure maintenance. We present OpenTrench3D, a novel and comprehensive 3D Semantic Segmentation point cloud…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Visualizing high-dimensional data has been a focus in data analysis communities for decades, which has led to the design of many algorithms, some of which are now considered references (such as t-SNE for example). In our era of overwhelming…

Numerous point-cloud understanding techniques focus on whole entities and have succeeded in obtaining satisfactory results and limited sparsity tolerance. However, these methods are generally sensitive to incomplete point clouds that are…

In this paper, we introduce the HexPlane representation for 3D semantic scene understanding. Specifically, we first design the View Projection Module (VPM) to project the 3D point cloud into six planes to maximally retain the original…

Point cloud semantic segmentation is a crucial task in 3D scene understanding. Existing methods mainly focus on employing a large number of annotated labels for supervised semantic segmentation. Nonetheless, manually labeling such large…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Crops for food, feed, fiber, and fuel are key natural resources for our society. Monitoring plants and measuring their traits is an important task in agriculture often referred to as plant phenotyping. Traditionally, this task is done…