相关论文: Semantic-aware Transmission for Robust Point Cloud…

Deep learning (DL) based semantic communication methods have been explored for the efficient transmission of images, text, and speech in recent years. In contrast to traditional wireless communication methods that focus on the transmission…

Deep learning models are the state-of-the-art methods for semantic point cloud segmentation, the success of which relies on the availability of large-scale annotated datasets. However, it can be extremely time-consuming and prohibitively…

Semantic segmentation of 3D point cloud data often comes with high annotation costs. Active learning automates the process of selecting which data to annotate, reducing the total amount of annotation needed to achieve satisfactory…

Robots are expected to operate autonomously in dynamic environments. Understanding the underlying dynamic characteristics of objects is a key enabler for achieving this goal. In this paper, we propose a method for pointwise semantic…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…

Cloud-edge collaboration enhances machine perception by combining the strengths of edge and cloud computing. Edge devices capture raw data (e.g., 3D point clouds) and extract salient features, which are sent to the cloud for deeper analysis…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Due to the density inconsistency and distribution difference between cross-source point clouds, previous methods fail in cross-source point cloud registration. We propose a density-robust feature extraction and matching scheme to achieve…

Traditional 3D segmentation methods can only recognize a fixed range of classes that appear in the training set, which limits their application in real-world scenarios due to the lack of generalization ability. Large-scale visual-language…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

Weakly supervised LiDAR semantic segmentation has made significant strides with limited labeled data. However, most existing methods focus on the network training under weak supervision, while efficient annotation strategies remain largely…

Semantic segmentation of city-scale point clouds is a critical technology for Unmanned Aerial Vehicle (UAV) perception systems, enabling the classification of 3D points without relying on any visual information to achieve comprehensive 3D…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

We propose a fully automatic annotation scheme that takes a raw 3D point cloud with a set of fitted CAD models as input and outputs convincing point-wise labels that can be used as cheap training data for point cloud segmentation. Compared…

Semantic communication (SemCom) aims to convey the intended meaning of messages rather than merely transmitting bits, thereby offering greater efficiency and robustness, particularly in resource-constrained or noisy environments. In this…

The task of learning from point cloud data is always challenging due to the often occurrence of noise and outliers in the data. Such data inaccuracies can significantly influence the performance of state-of-the-art deep learning networks…

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…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…