相关论文: RecNet: An Invertible Point Cloud Encoding through…

LiDARs are widely used in autonomous robots due to their ability to provide accurate environment structural information. However, the large size of point clouds poses challenges in terms of data storage and transmission. In this paper, we…

Many real-world physics and engineering problems arise in geometrically complex domains discretized by meshes for numerical simulations. The nodes of these potentially irregular meshes naturally form point clouds whose limited tractability…

Scene classification is a fundamental problem to understand the high-resolution remote sensing imagery. Recently, convolutional neural network (ConvNet) has achieved remarkable performance in different tasks, and significant efforts have…

Reconstructing meshes from point clouds is a fundamental task in computer vision with applications spanning robotics, autonomous systems, and medical imaging. Selecting an appropriate learning-based method requires understanding trade-offs…

This paper presents CALM-Net, a curvature-aware LiDAR point cloud-based multi-branch neural network for vehicle re-identification. The proposed model addresses the challenge of learning discriminative and complementary features from…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Implicit neural networks have emerged as a crucial technology in 3D surface reconstruction. To reconstruct continuous surfaces from discrete point clouds, encoding the input points into regular grid features (plane or volume) has been…

Recently, much advance has been made in image captioning, and an encoder-decoder framework has been adopted by all the state-of-the-art models. Under this framework, an input image is encoded by a convolutional neural network (CNN) and then…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

Three-dimensional feature extraction is a critical component of autonomous driving systems, where perception tasks such as 3D object detection, bird's-eye-view (BEV) semantic segmentation, and occupancy prediction serve as important…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

Fusion-based place recognition is an emerging technique jointly utilizing multi-modal perception data, to recognize previously visited places in GPS-denied scenarios for robots and autonomous vehicles. Recent fusion-based place recognition…

Real-world point clouds usually suffer from incompleteness and display different poses. While current point cloud completion methods excel in reproducing complete point clouds with consistent poses as seen in the training set, their…

While the depth of convolutional neural networks has attracted substantial attention in the deep learning research, the width of these networks has recently received greater interest. The width of networks, defined as the size of the…

Accurate grasping is the key to several robotic tasks including assembly and household robotics. Executing a successful grasp in a cluttered environment requires multiple levels of scene understanding: First, the robot needs to analyze the…

Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…

Accurate and efficient point cloud registration is a challenge because the noise and a large number of points impact the correspondence search. This challenge is still a remaining research problem since most of the existing methods rely on…

Robots interacting with humans must not only generate learned movements in real-time, but also infer the intent behind observed behaviors and estimate the confidence of their own inferences. This paper proposes a unified model that achieves…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…