相关论文: Improved Multi-Scale Grid Rendering of Point Cloud…

We present a novel hybrid strategy based on machine learning to improve curvature estimation in the level-set method. The proposed inference system couples enhanced neural networks with standard numerical schemes to compute curvature more…

Robust perception is a vital component for ensuring safe autonomous and assisted driving. Automotive radar (77 to 81 GHz), which offers weather-resilient sensing, provides a complementary capability to the vision- or LiDAR-based autonomous…

In point cloud analysis, point-based methods have rapidly developed in recent years. These methods have recently focused on concise MLP structures, such as PointNeXt, which have demonstrated competitiveness with Convolutional and…

LiDAR-based 3D object detectors often struggle to detect far-field objects due to the sparsity of point clouds at long ranges, which limits the availability of reliable geometric cues. To address this, prior approaches augment LiDAR data…

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…

Contemporary registration devices for 3D visual information, such as LIDARs and various depth cameras, capture data as 3D point clouds. In turn, such clouds are challenging to be processed due to their size and complexity. Existing methods…

Integrating LiDAR and camera information in the bird's eye view (BEV) representation has demonstrated its effectiveness in 3D object detection. However, because of the fundamental disparity in geometric accuracy between these sensors,…

Object detection with 3D radar is essential for 360-degree automotive perception, but radar's long wavelengths produce sparse and irregular reflections that challenge traditional grid and sequence-based convolutional and transformer…

We address the important problem of generalizing robotic rearrangement to clutter without any explicit object models. We first generate over 650K cluttered scenes - orders of magnitude more than prior work - in diverse everyday…

In this paper, we propose an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud. Compared to recent grasp evaluation metrics that are based on…

In this paper, we propose an effective point cloud generation method, which can generate multi-resolution point clouds of the same shape from a latent vector. Specifically, we develop a novel progressive deconvolution network with the…

Millimeter-wave (mmWave) radar offers robust sensing capabilities in diverse environments, making it a highly promising solution for human body reconstruction due to its privacy-friendly and non-intrusive nature. However, the significant…

Recently, 3D object detection has attracted significant attention and achieved continuous improvement in real road scenarios. The environmental information is collected from a single sensor or multi-sensor fusion to detect interested…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of…

In this paper, we propose a new image-based visual place recognition (VPR) framework by exploiting the structural cues in bird's-eye view (BEV) from a single monocular camera. The motivation arises from two key observations about place…

We present ShapeVis, a scalable visualization technique for point cloud data inspired from topological data analysis. Our method captures the underlying geometric and topological structure of the data in a compressed graphical…

Unsupervised feature learning for point clouds has been vital for large-scale point cloud understanding. Recent deep learning based methods depend on learning global geometry from self-reconstruction. However, these methods are still…

The integration of complementary characteristics from camera and radar data has emerged as an effective approach in 3D object detection. However, such fusion-based methods remain unexplored for place recognition, an equally important task…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…