相关论文: A Dynamic Points Removal Benchmark in Point Cloud …

This paper proposes a concise, elegant, and robust pipeline to estimate smooth camera trajectories and obtain dense point clouds for casual videos in the wild. Traditional frameworks, such as ParticleSfM~\cite{zhao2022particlesfm}, address…

Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…

Owing to the typical long-tail data distribution issues, simulating domain-gap-free synthetic data is crucial in robotics, photogrammetry, and computer vision research. The fundamental challenge pertains to credibly measuring the difference…

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…

In recent years, parametric representations of point clouds have been widely applied in tasks such as memory-efficient mapping and multi-robot collaboration. Highly adaptive models, like spline surfaces or quadrics, are computationally…

We propose a systematic approach for registering cross-source point clouds. The compelling need for cross-source point cloud registration is motivated by the rapid development of a variety of 3D sensing techniques, but many existing…

Point clouds are collected nowadays from a plethora of sensors, some having higher accuracies and higher costs, some having lower accuracies but also lower costs. Not only there is a large choice for different sensors, but also these can be…

Autonomous vehicles were experiencing rapid development in the past few years. However, achieving full autonomy is not a trivial task, due to the nature of the complex and dynamic driving environment. Therefore, autonomous vehicles are…

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…

Given the prominence of current 3D sensors, a fine-grained analysis on the basic point cloud data is worthy of further investigation. Particularly, real point cloud scenes can intuitively capture complex surroundings in the real world, but…

Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

Real-time 3D object detection from point clouds is essential for dynamic scene understanding in applications such as augmented reality, robotics and navigation. We introduce a novel Spatial-prioritized and Rank-aware 3D object detection…

We introduce a framework for the recovery of points on a smooth surface in high-dimensional space, with application to dynamic imaging. We assume the surface to be the zero-level set of a bandlimited function. We show that the exponential…

Due to the large amount of data that point clouds represent and the differences in geometry of successive frames, the generation of motion vectors for an entire point cloud dataset may require a significant amount of time and computational…

Consider a set of images of a scene consisting of moving objects captured using a hand-held camera. In this work, we propose an algorithm which takes this set of multi-view images as input, detects the dynamic objects present in the scene,…

Mobile mapping, in particular, Mobile Lidar Scanning (MLS) is increasingly widespread to monitor and map urban scenes at city scale with unprecedented resolution and accuracy. The resulting point cloud sampling of the scene geometry can be…

The points on the point clouds that can entirely outline the shape of the model are of critical importance, as they serve as the foundation for numerous point cloud processing tasks and are widely utilized in computer graphics and…

Point cloud has been widely used in the field of autonomous driving since it can provide a more comprehensive three-dimensional representation of the environment than 2D images. Point-wise prediction based on point cloud sequence (PCS) is…

Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…