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

We propose a robust and efficient framework to generate global trajectories for ground robots in complex 3D environments. The proposed method takes point cloud as input and efficiently constructs a multi-level map using triangular patches…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

Deep learning on point clouds plays a vital role in a wide range of applications such as autonomous driving and AR/VR. These applications interact with people in real-time on edge devices and thus require low latency and low energy.…

In this paper, we present IRON (Invariant-based global Robust estimation and OptimizatioN), a non-minimal and highly robust solution for point cloud registration with a great number of outliers among the correspondences. To realize this, we…

Destination prediction is an essential task in a variety of mobile applications. In this paper, we optimize the matrix operation and adapt a semi-lazy framework to improve the prediction accuracy and efficiency of a state-of-the-art…

This thesis investigates dataset downsampling as a strategy to optimize energy efficiency in recommender systems while maintaining competitive performance. With increasing dataset sizes posing computational and environmental challenges,…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Three-dimensional (3D) point clouds are increasingly used in applications such as autonomous driving, robotics, and virtual reality (VR). Point-based neural networks (PNNs) have demonstrated strong performance in point cloud analysis,…

Point cloud analysis has achieved outstanding performance by transferring point cloud pre-trained models. However, existing methods for model adaptation usually update all model parameters, i.e., full fine-tuning paradigm, which is…

This paper presents iMatcher, a fully differentiable framework for feature matching in point cloud registration. The proposed method leverages learned features to predict a geometrically consistent confidence matrix, incorporating both…

Point cloud frame interpolation is a challenging task that involves accurate scene flow estimation across frames and maintaining the geometry structure. Prevailing techniques often rely on pre-trained motion estimators or intensive…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

Semantic segmentation of aerial point cloud data can be utilised to differentiate which points belong to classes such as ground, buildings, or vegetation. Point clouds generated from aerial sensors mounted to drones or planes can utilise…

We propose a robust normal estimation method for both point clouds and meshes using a low rank matrix approximation algorithm. First, we compute a local feature descriptor for each point and find similar, non-local neighbors that we…

Downsampling and path planning are essential in robotics and autonomous systems, as they enhance computational efficiency and enable effective navigation in complex environments. However, current downsampling methods often fail to preserve…

Efficient analysis of point clouds holds paramount significance in real-world 3D applications. Currently, prevailing point-based models adhere to the PointNet++ methodology, which involves embedding and abstracting point features within a…

Many automated processes such as auto-piloting rely on a good semantic segmentation as a critical component. To speed up performance, it is common to downsample the input frame. However, this comes at the cost of missed small objects and…

Generating a set of high-quality correspondences or matches is one of the most critical steps in point cloud registration. This paper proposes a learning framework COTReg by jointly considering the pointwise and structural matchings to…

High-quality point cloud data is a critical foundation for tasks such as autonomous driving and 3D reconstruction. However, LiDAR-based point cloud acquisition is often affected by various disturbances, resulting in a large number of noise…

Large-scale datasets are usually required to train deep neural networks, but it increases the computational complexity hindering the practical applications. Recently, dataset distillation for images and texts has been attracting a lot of…