相关论文: CurbNet: Curb Detection Framework Based on LiDAR P…

The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this paper, we address the problem of moving object segmentation…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

The field of autonomous driving technology is rapidly advancing, with deep learning being a key component. Particularly in the field of sensing, 3D point cloud data collected by LiDAR is utilized to run deep neural network models for 3D…

There has been significant progress made in the field of autonomous vehicles. Object detection and tracking are the primary tasks for any autonomous vehicle. The task of object detection in autonomous vehicles relies on a variety of sensors…

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…

3D object detection from LiDAR point cloud is a challenging problem in 3D scene understanding and has many practical applications. In this paper, we extend our preliminary work PointRCNN to a novel and strong point-cloud-based 3D object…

Place recognition and loop-closure detection are main challenges in the localization, mapping and navigation tasks of self-driving vehicles. In this paper, we solve the loop-closure detection problem by incorporating the deep-learning based…

LiDAR-based 3D object detection pushes forward an immense influence on autonomous vehicles. Due to the limitation of the intrinsic properties of LiDAR, fewer points are collected at the objects farther away from the sensor. This imbalanced…

We propose a robust method for estimating road curb 3D parameters (size, location, orientation) using a calibrated monocular camera equipped with a fisheye lens. Automatic curb detection and localization is particularly important in the…

LiDAR-produced point clouds are the major source for most state-of-the-art 3D object detectors. Yet, small, distant, and incomplete objects with sparse or few points are often hard to detect. We present Sparse2Dense, a new framework to…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

Recently most popular tracking frameworks focus on 2D image sequences. They seldom track the 3D object in point clouds. In this paper, we propose PointIT, a fast, simple tracking method based on 3D on-road instance segmentation. Firstly, we…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Despite the progress on 3D point cloud deep learning, most prior works focus on learning features that are invariant to translation and point permutation, and very limited efforts have been devoted for rotation invariant property. Several…

Robust and discriminative feature learning is critical for high-quality point cloud registration. However, existing deep learning-based methods typically rely on Euclidean neighborhood-based strategies for feature extraction, which struggle…

In this paper, we propose PointSeg, a real-time end-to-end semantic segmentation method for road-objects based on spherical images. We take the spherical image, which is transformed from the 3D LiDAR point clouds, as input of the…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either 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…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

The shape of circle is one of fundamental geometric primitives of man-made engineering objects. Thus, extraction of circles from scanned point clouds is a quite important task in 3D geometry data processing. However, existing circle…