相关论文: Irregular Change Detection in Sparse Bi-Temporal P…

Recent years have witnessed huge successes in 3D object detection to recognize common objects for autonomous driving (e.g., vehicles and pedestrians). However, most methods rely heavily on a large amount of well-labeled training data. This…

Automatic detection of visual anomalies and changes in the environment has been a topic of recurrent attention in the fields of machine learning and computer vision over the past decades. A visual anomaly or change detection algorithm…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

LiDAR sensors are widely used for 3D object detection in various mobile robotics applications. LiDAR sensors continuously generate point cloud data in real-time. Conventional 3D object detectors detect objects using a set of points acquired…

The success of deep learning methods led to significant breakthroughs in 3-D point cloud processing tasks with applications in remote sensing. Existing methods utilize convolutions that have some limitations, as they assume a uniform input…

This paper presents a novel framework for robust 3D object detection from point clouds via cross-modal hallucination. Our proposed approach is agnostic to either hallucination direction between LiDAR and 4D radar. We introduce multiple…

The prevalence of accessible depth sensing and 3D laser scanning techniques has enabled the convenient acquisition of 3D dynamic point clouds, which provide efficient representation of arbitrarily-shaped objects in motion. Nevertheless,…

3D object detection with LiDAR point clouds plays an important role in autonomous driving perception module that requires high speed, stability and accuracy. However, the existing point-based methods are challenging to reach the speed…

In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

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…

We tackle the problem of object-centric learning on point clouds, which is crucial for high-level relational reasoning and scalable machine intelligence. In particular, we introduce a framework, SPAIR3D, to factorize a 3D point cloud into a…

3D object detection plays an important role in a large number of real-world applications. It requires us to estimate the localizations and the orientations of 3D objects in real scenes. In this paper, we present a new network architecture…

We introduce a new deep learning method for point cloud comparison. Our approach, named Deep Point Cloud Distance (DPDist), measures the distance between the points in one cloud and the estimated surface from which the other point cloud is…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Point clouds, as a form of Lagrangian representation, allow for powerful and flexible applications in a large number of computational disciplines. We propose a novel deep-learning method to learn stable and temporally coherent feature…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…