相关论文: Histogram-based Deep Learning for Automotive Radar

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

In this paper, we propose a point cloud classification method based on graph neural network and manifold learning. Different from the conventional point cloud analysis methods, this paper uses manifold learning algorithms to embed point…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Despite its potential for label-free particle diagnostics, holographic microscopy is limited by specialized processing methods that struggle to generalize across diverse settings. We introduce a deep learning architecture leveraging human…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Autonomous vehicles operate in a dynamic environment, where the speed with which a vehicle can perceive and react impacts the safety and efficacy of the system. LiDAR provides a prominent sensory modality that informs many existing…

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…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

In this work, a deep learning approach has been developed to carry out road detection using only LIDAR data. Starting from an unstructured point cloud, top-view images encoding several basic statistics such as mean elevation and density are…

This paper aims at bringing some light and understanding to the field of deep learning for dynamic point cloud processing. Specifically, we focus on the hierarchical features learning aspect, with the ultimate goal of understanding which…

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…

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have…

The process of segmenting point cloud data into several homogeneous areas with points in the same region having the same attributes is known as 3D segmentation. Segmentation is challenging with point cloud data due to substantial…

Object detection using automotive radars has not been explored with deep learning models in comparison to the camera based approaches. This can be attributed to the lack of public radar datasets. In this paper, we collect a novel radar…

Point cloud has drawn more and more research attention as well as real-world applications. However, many of these applications (e.g. autonomous driving and robotic manipulation) are actually based on sequential point clouds (i.e. four…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Millimeter-wave (mmWave) radars are indispensable for perception tasks of autonomous vehicles, thanks to their resilience in challenging weather conditions. Yet, their deployment is often limited by insufficient spatial resolution for…

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…

Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…