相关论文: BPT: Binary Point Cloud Transformer for Place Reco…

This paper presents a novel Fully Binary Point Cloud Transformer (FBPT) model which has the potential to be widely applied and expanded in the fields of robotics and mobile devices. By compressing the weights and activations of a 32-bit…

3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…

Place recognition or loop closure detection is one of the core components in a full SLAM system. In this paper, aiming at strengthening the relevancy of local neighboring points and the contextual dependency among global points…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

Place recognition is a key module for long-term SLAM systems. Current LiDAR-based place recognition methods usually use representations of point clouds such as unordered points or range images. These methods achieve high recall rates of…

We present CpT: Convolutional point Transformer - a novel deep learning architecture for dealing with the unstructured nature of 3D point cloud data. CpT is an improvement over existing attention-based Convolutions Neural Networks as well…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…

The integration of a SLAM algorithm with place recognition technology empowers it with the ability to mitigate accumulated errors and to relocalize itself. However, existing methods for point cloud-based place recognition predominantly rely…

Place recognition is a fundamental task for robotic application, allowing robots to perform loop closure detection within simultaneous localization and mapping (SLAM), and achieve relocalization on prior maps. Current range image-based…

The irregular domain and lack of ordering make it challenging to design deep neural networks for point cloud processing. This paper presents a novel framework named Point Cloud Transformer(PCT) for point cloud learning. PCT is based on…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

To alleviate the resource constraint for real-time point cloud applications that run on edge devices, in this paper we present BiPointNet, the first model binarization approach for efficient deep learning on point clouds. We discover that…

Recent advances in deep learning have improved 3D point cloud registration but increased graphics processing unit (GPU) memory usage, often requiring preliminary sampling that reduces accuracy. We propose an overlapping region sampling…

Place recognition is an important capability for autonomously navigating vehicles operating in complex environments and under changing conditions. It is a key component for tasks such as loop closing in SLAM or global localization. In this…

Transformers have shown superior performance on various computer vision tasks with their capabilities to capture long-range dependencies. Despite the success, it is challenging to directly apply Transformers on point clouds due to their…

Recent temporal LiDAR-based 3D object detectors achieve promising performance based on the two-stage proposal-based approach. They generate 3D box candidates from the first-stage dense detector, followed by different temporal aggregation…

Processing 3D data efficiently has always been a challenge. Spatial operations on large-scale point clouds, stored as sparse data, require extra cost. Attracted by the success of transformers, researchers are using multi-head attention for…

Point cloud compression has garnered significant interest in computer vision. However, existing algorithms primarily cater to human vision, while most point cloud data is utilized for machine vision tasks. To address this, we propose a…