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

Most state-of-the-art localization algorithms rely on robust relative pose estimation and geometry verification to obtain moving object agnostic camera poses in complex indoor environments. However, this approach is prone to mistakes if a…

We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…

In this letter, we propose a point cloud structural similarity-based loop detection method for underwater Simultaneous Localization and Mapping using sonar sensors. Existing sonar-based loop detection approaches often rely on 2D projection…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

To better address challenging issues of the irregularity and inhomogeneity inherently present in 3D point clouds, researchers have been shifting their focus from the design of hand-craft point feature towards the learning of 3D point…

This paper introduces a new method for 3D point cloud registration based on deep learning. The architecture is composed of three distinct blocs: (i) an encoder composed of a convolutional graph-based descriptor that encodes the immediate…

Point clouds, as a form of Lagrangian representation, allow for powerful and flexible applications in a large number of computational disciplines. We propose a novel deep-learning method to learn stable and temporally coherent feature…

Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Fine-grained geometry, captured by aggregation of point features in local regions, is crucial for object recognition and scene understanding in point clouds. Nevertheless, existing preeminent point cloud backbones usually incorporate…

We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to…

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…

As incremental Structure from Motion algorithms become effective, a good sparse point cloud representing the map of the scene becomes available frame-by-frame. From the 3D Delaunay triangulation of these points, state-of-the-art algorithms…

Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…

Unseen noise signal which is not considered in a model training process is difficult to anticipate and would lead to performance degradation. Various methods have been investigated to mitigate unseen noise. In our previous work, an…

In dynamic scenes, both localization and mapping in visual SLAM face significant challenges. In recent years, numerous outstanding research works have proposed effective solutions for the localization problem. However, there has been a…

Recent research has shown that mmWave radar sensing is effective for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems such as autonomous vehicles. However, due to the…

In data mining, density-based clustering, which entails classifying datapoints according to their distributions in some space, is an essential method to extract information from large datasets. With the advent of software-based radio,…

Dimension reduction (DR) algorithms have proven to be extremely useful for gaining insight into large-scale high-dimensional datasets, particularly finding clusters in transcriptomic data. The initial phase of these DR methods often…