相关论文: DynaHull: Density-centric Dynamic Point Filtering …

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…

Relocalization, the process of re-establishing a robot's position within an environment, is crucial for ensuring accurate navigation and task execution when external positioning information, such as GPS, is unavailable or has been lost.…

Non-contact volume estimation of pile-type objects has considerable potential in industrial scenarios, including grain, coal, mining, and stone materials. However, using existing method for these scenarios is challenged by unstable…

This article proposes a novel indoor magnetic field-based place recognition algorithm that is accurate and fast to compute. For that, we modified the generalized ''Hough Transform'' to process magnetic data (MagHT). It takes as input a…

The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to…

LiDAR sensors are critical for autonomous driving and robotics applications due to their ability to provide accurate range measurements and their robustness to lighting conditions. However, airborne particles, such as fog, rain, snow, and…

Significant progress has been made recently in point cloud segmentation utilizing an encoder-decoder framework, which initially encodes point clouds into low-resolution representations and subsequently decodes high-resolution predictions.…

Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…

Augmenting LiDAR input with multiple previous frames provides richer semantic information and thus boosts performance in 3D object detection, However, crowded point clouds in multi-frames can hurt the precise position information due to the…

The paper presents a simple and effective learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Recent state-of-the-art methods have relatively complex architectures such as…

A novel 2-D method for computing the convex hull of a sufficiently dense set of n integer points is introduced. The approach employs a ranking function that avoids sorting the points directly thus reducing the overall time complexity. The…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Current 3D object detection methods are heavily influenced by 2D detectors. In order to leverage architectures in 2D detectors, they often convert 3D point clouds to regular grids (i.e., to voxel grids or to bird's eye view images), or rely…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the…

Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…

Point cloud capture processes are error-prone and introduce noisy artifacts that necessitate filtering/denoising. Recent filtering methods often suffer from point clustering or noise retaining issues. In this paper, we propose Hybrid Point…

3D point clouds deep learning is a promising field of research that allows a neural network to learn features of point clouds directly, making it a robust tool for solving 3D scene understanding tasks. While recent works show that point…

Diffusion models are a powerful framework for tackling ill-posed problems, with recent advancements extending their use to point cloud upsampling. Despite their potential, existing diffusion models struggle with inefficiencies as they map…

The main objective of this article is to develop scalable dynamic anomaly detectors when high-fidelity simulators of power systems are at our disposal. On the one hand, mathematical models of these high-fidelity simulators are typically…