相关论文: Building3D: An Urban-Scale Dataset and Benchmarks …

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

Various datasets have been proposed for simultaneous localization and mapping (SLAM) and related problems. Existing datasets often include small environments, have incomplete ground truth, or lack important sensor data, such as depth and…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…

In this paper we present our workflow to automatically reconstruct 3D building models based on 2D building polygons and a LiDAR point cloud. The workflow generates models at different levels of detail (LoDs) to support data requirements of…

During the last years, many advances have been made in tasks like3D model retrieval, 3D model classification, and 3D model segmentation.The typical 3D representations such as point clouds, voxels, and poly-gon meshes are mostly suitable for…

Detailed 3D building models are crucial for urban planning, digital twins, and disaster management applications. While Level of Detail 1 (LoD)1 and LoD2 building models are widely available, they lack detailed facade elements essential for…

Satellite imagery analytics have numerous human development and disaster response applications, particularly when time series methods are involved. For example, quantifying population statistics is fundamental to 67 of the 231 United…

We introduce a novel framework for Continual Learning in 3D object classification. Our approach, CL3D, is based on the selection of prototypes from each class using spectral clustering. For non-Euclidean data such as point clouds, spectral…

Autonomous driving and assistance systems rely on annotated data from traffic and road scenarios to model and learn the various object relations in complex real-world scenarios. Preparation and training of deploy-able deep learning…

Building segmentation from aerial images and 3D laser scanning (LiDAR) is a challenging task due to the diversity of backgrounds, building textures, and image quality. While current research using different types of convolutional and…

Roof plane segmentation from airborne LiDAR point clouds is an important technology for 3D building model reconstruction. One of the key issues of plane segmentation is how to design powerful features that can exactly distinguish adjacent…

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object…

LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…

Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…

Underwater 3D object detection remains one of the most challenging frontiers in computer vision, where traditional approaches struggle with the harsh acoustic environment and scarcity of training data. While deep learning has revolutionized…

One of the main components of an autonomous vehicle is the obstacle detection pipeline. Most prototypes, both from research and industry, rely on lidars for this task. Pointcloud information from lidar is usually combined with data from…

3D landmark detection plays a pivotal role in various applications such as 3D registration, pose estimation, and virtual try-on. While considerable success has been achieved in 2D human landmark detection or pose estimation, there is a…

In recent times, the scope of LIDAR (Light Detection and Ranging) sensor-based technology has spread across numerous fields. It is popularly used to map terrain and navigation information into reliable 3D point cloud data, potentially…

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity.…