相关论文: TT-SDF2PC: Registration of Point Cloud and Compres…

This study, for the first time, investigates the use of tensor trains (TTs) to represent high-dimensional unsteady flamelet progress variable (UFPV) manifolds in chemically reacting computational fluid dynamics (CFD). The UFPV framework…

Point cloud scene flow estimation is of practical importance for dynamic scene navigation in autonomous driving. Since scene flow labels are hard to obtain, current methods train their models on synthetic data and transfer them to real…

Tensor, a multi-dimensional data structure, has been exploited recently in the machine learning community. Traditional machine learning approaches are vector- or matrix-based, and cannot handle tensorial data directly. In this paper, we…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Locality preserving projections (LPP) are a classical dimensionality reduction method based on data graph information. However, LPP is still responsive to extreme outliers. LPP aiming for vectorial data may undermine data structural…

Autonomous vehicles rely on LiDAR sensors to generate 3D point clouds for accurate segmentation and object detection. In a context of a smart city framework, we would like to understand the effect that transmission (compression) can have on…

We present Tensor4D, an efficient yet effective approach to dynamic scene modeling. The key of our solution is an efficient 4D tensor decomposition method so that the dynamic scene can be directly represented as a 4D spatio-temporal tensor.…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

Transformer-based 3D human pose estimation methods suffer from high computational costs due to the quadratic complexity of self-attention with respect to sequence length. Additionally, pose sequences often contain significant redundancy…

Point cloud has been the mainstream representation for advanced 3D applications, such as virtual reality and augmented reality. However, the massive data amounts of point clouds is one of the most challenging issues for transmission and…

This paper addresses the challenges of registering two rigid semantic scene graphs, an essential capability when an autonomous agent needs to register its map against a remote agent, or against a prior map. The hand-crafted descriptors in…

Point cloud registration is a fundamental step for many tasks. In this paper, we propose a neural network named DetarNet to decouple the translation $t$ and rotation $R$, so as to overcome the performance degradation due to their mutual…

Motion planning and control problems are embedded and essential in almost all robotics applications. These problems are often formulated as stochastic optimal control problems and solved using dynamic programming algorithms. Unfortunately,…

The ability to process environment maps across multiple sessions is critical for robots operating over extended periods of time. Specifically, it is desirable for autonomous agents to detect changes amongst maps of different sessions so as…

Probabilistic point cloud registration methods are becoming more popular because of their robustness. However, unlike point-to-plane variants of iterative closest point (ICP) which incorporate local surface geometric information such as…

Rendering 3D scenes requires access to arbitrary viewpoints from the scene. Storage of such a 3D scene can be done in two ways; (1) storing 2D images taken from the 3D scene that can reconstruct the scene back through interpolations, or (2)…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

The Discriminative Optimization (DO) algorithm has been proved much successful in 3D point cloud registration. In the original DO, the feature (descriptor) of two point cloud was defined as a histogram, and the element of histogram…

We focus on the problem of LiDAR point cloud based loop detection (or Finding) and closure (LDC) in a multi-agent setting. State-of-the-art (SOTA) techniques directly generate learned embeddings of a given point cloud, require large data…

The ever-increasing demand for 3D modeling in the emerging immersive applications has made point clouds an essential class of data for 3D image and video processing. Tree based structures are commonly used for representing point clouds…