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

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…

Place recognition is one of the hot research fields in automation technology and is still an open issue, Camera and Lidar are two mainstream sensors used in this task, Camera-based methods are easily affected by illumination and season…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Point cloud recognition is an essential task in industrial robotics and autonomous driving. Recently, several point cloud processing models have achieved state-of-the-art performances. However, these methods lack rotation robustness, and…

Given the rapid development of 3D scanners, point clouds are becoming popular in AI-driven machines. However, point cloud data is inherently sparse and irregular, causing significant difficulties for machine perception. In this work, we…

Place recognition is a cornerstone of vehicle navigation and mapping, which is pivotal in enabling systems to determine whether a location has been previously visited. This capability is critical for tasks such as loop closure in…

Large language models (LLMs) based on the generative pre-training transformer (GPT) have demonstrated remarkable effectiveness across a diverse range of downstream tasks. Inspired by the advancements of the GPT, we present PointGPT, a novel…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

Discovering inter-point connection for efficient high-dimensional feature extraction from point coordinate is a key challenge in processing point cloud. Most existing methods focus on designing efficient local feature extractors while…

Place recognition gives a SLAM system the ability to correct cumulative errors. Unlike images that contain rich texture features, point clouds are almost pure geometric information which makes place recognition based on point clouds…

Remarkable performance from Transformer networks in Natural Language Processing promote the development of these models in dealing with computer vision tasks such as image recognition and segmentation. In this paper, we introduce a novel…

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…

Transformer-based models have significantly advanced natural language processing and computer vision in recent years. However, due to the irregular and disordered structure of point cloud data, transformer-based models for 3D deep learning…

The recent surge in 3D data acquisition has spurred the development of geometric deep learning models for point cloud processing, boosted by the remarkable success of transformers in natural language processing. While point cloud…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

Point cloud is an important data structure for a wide range of applications, including robotics, AR/VR, and autonomous driving. To process the point cloud, many deep-learning-based point cloud recognition algorithms have been proposed.…

Visual place recognition (VPR) is a robot's ability to determine whether a place was visited before using visual data. While conventional hand-crafted methods for VPR fail under extreme environmental appearance changes, those based on…

3D single object tracking is a key issue for robotics. In this paper, we propose a transformer module called Point-Track-Transformer (PTT) for point cloud-based 3D single object tracking. PTT module contains three blocks for feature…

The point cloud learning community witnesses a modeling shift from CNNs to Transformers, where pure Transformer architectures have achieved top accuracy on the major learning benchmarks. However, existing point Transformers are…