相关论文: Exact Point Cloud Downsampling for Fast and Accura…

Optimal transport (OT) has become exceedingly popular in machine learning, data science, and computer vision. The core assumption in the OT problem is the equal total amount of mass in source and target measures, which limits its…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

Point cloud alignment is a common problem in computer vision and robotics, with applications ranging from 3D object recognition to reconstruction. We propose a novel approach to the alignment problem that utilizes Bayesian nonparametrics to…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…

Despite recent advancements in deep neural networks for point cloud recognition, real-world safety-critical applications present challenges due to unavoidable data corruption. Current models often fall short in generalizing to unforeseen…

Point clouds obtained from photogrammetry are noisy and incomplete models of reality. We propose an evolutionary optimization methodology that is able to approximate the underlying object geometry on such point clouds. This approach assumes…

Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems such as manipulators, the most time-intensive component is…

While point-based neural architectures have demonstrated their efficacy, the time-consuming sampler currently prevents them from performing real-time reasoning on scene-level point clouds. Existing methods attempt to overcome this issue by…

Compressing massive LiDAR point clouds in real-time is critical to autonomous machines such as drones and self-driving cars. While most of the recent prior work has focused on compressing individual point cloud frames, this paper proposes a…

Accurate tree detection is of growing importance in applications such as urban planning, forest inventory, and environmental monitoring. In this article, we present an approach to creating tree maps by annotating them in 3D point clouds.…

The recent advancements in point cloud learning have enabled intelligent vehicles and robots to comprehend 3D environments better. However, processing large-scale 3D scenes remains a challenging problem, such that efficient downsampling…

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…

This paper presents a practical global optimization algorithm for the K-center clustering problem, which aims to select K samples as the cluster centers to minimize the maximum within-cluster distance. This algorithm is based on a…

Point cloud registration is a fundamental task in the fields of computer vision and robotics. Recent developments in transformer-based methods have demonstrated enhanced performance in this domain. However, the standard attention mechanism…

Point cloud registration (PCR) is a popular research topic in computer vision. Recently, the registration method in an evolutionary way has received continuous attention because of its robustness to the initial pose and flexibility in…

We introduce Rectified Point Flow, a unified parameterization that formulates pairwise point cloud registration and multi-part shape assembly as a single conditional generative problem. Given unposed point clouds, our method learns a…

The goal of this paper is to address the problem of global point cloud registration (PCR) i.e., finding the optimal alignment between point clouds irrespective of the initial poses of the scans. This problem is notoriously challenging for…

Place recognition, an algorithm to recognize the re-visited places, plays the role of back-end optimization trigger in a full SLAM system. Many works equipped with deep learning tools, such as MLP, CNN, and transformer, have achieved great…

The performance of surface registration relies heavily on the metric used for the alignment error between the source and target shapes. Traditionally, such a metric is based on the point-to-point or point-to-plane distance from the points…