相关论文: GAM : Gradient Attention Module of Optimization fo…

The trade-off between feature representation power and spatial localization accuracy is crucial for the dense classification/semantic segmentation of aerial images. High-level features extracted from the late layers of a neural network are…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Semantic Segmentation (SS) of LiDAR point clouds is essential for many applications, such as urban planning and autonomous driving. While much progress has been made in interpreting SS predictions for images, interpreting point cloud SS…

Owing to the development of research on local aggregation operators, dramatic breakthrough has been made in point cloud analysis models. However, existing local aggregation operators in the current literature fail to attach decent…

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…

Visual navigation in complex environments is inefficient with traditional reactive policy or general-purposed recurrent policy. To address the long-term memory issue, this paper proposes a graph attention memory (GAM) architecture…

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…

With the proliferation of Lidar sensors and 3D vision cameras, 3D point cloud analysis has attracted significant attention in recent years. After the success of the pioneer work PointNet, deep learning-based methods have been increasingly…

LiDAR-based 3D object detection is an important task for autonomous driving and current approaches suffer from sparse and partial point clouds of distant and occluded objects. In this paper, we propose a novel two-stage approach, namely…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

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…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

LiDAR-based perception in autonomous systems is constrained by fixed vertical beam resolution and further compromised by beam dropout resulting from environmental occlusions. This paper introduces SuperiorGAT, a graph attention-based…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Recent years have witnessed the great success of deep learning on various point cloud analysis tasks, e.g., classification and semantic segmentation. Since point cloud data is sparse and irregularly distributed, one key issue for point…

Although face recognition has made impressive progress in recent years, we ignore the racial bias of the recognition system when we pursue a high level of accuracy. Previous work found that for different races, face recognition networks…

We propose a precise and efficient normal estimation method that can deal with noise and nonuniform density for unstructured 3D point clouds. Unlike existing approaches that directly take patches and ignore the local neighborhood…

Environmental perception systems are crucial for high-precision mapping and autonomous navigation, with LiDAR serving as a core sensor providing accurate 3D point cloud data. Efficiently processing unstructured point clouds while extracting…

Point cloud analysis has evolved with diverse network architectures, while existing works predominantly focus on introducing novel structural designs. However, conventional point-based architectures - processing raw points through…