相关论文: FPGA-Accelerated Correspondence-free Point Cloud R…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Deep Convolutional Neural Networks have become a Swiss knife in solving critical artificial intelligence tasks. However, deploying deep CNN models for latency-critical tasks remains to be challenging because of the complex nature of CNNs.…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

Point cloud registration involves determining a rigid transformation to align a source point cloud with a target point cloud. This alignment is fundamental in applications such as autonomous driving, robotics, and medical imaging, where…

Residual neural networks are widely used in computer vision tasks. They enable the construction of deeper and more accurate models by mitigating the vanishing gradient problem. Their main innovation is the residual block which allows the…

We present the implementation of four FPGA-accelerated convolutional neural network (CNN) models for onboard cloud detection in resource-constrained CubeSat missions, leveraging Xilinx's Vitis AI (VAI) framework and Deep Learning Processing…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

This paper presents a novel and fast approach for ground plane segmentation in a LiDAR point cloud, specifically optimized for processing speed and hardware efficiency on FPGA hardware platforms. Our approach leverages a channel-based…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

This study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider…

Deep Forest is a prominent machine learning algorithm known for its high accuracy in forecasting. Compared with deep neural networks, Deep Forest has almost no multiplication operations and has better performance on small datasets. However,…

Various hardware accelerators have been developed for energy-efficient and real-time inference of neural networks on edge devices. However, most training is done on high-performance GPUs or servers, and the huge memory and computing costs…

Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The…

The continued growth in the processing power of FPGAs coupled with high bandwidth memories (HBM), makes systems like the Xilinx U280 credible platforms for linear solvers which often dominate the run time of scientific and engineering…

Reconfigurable architectures like Field Programmable Gate Arrays (FPGAs) have been used for accelerating computations in several domains because of their unique combination of flexibility, performance, and power efficiency. However, FPGAs…

Point cloud registration (PCR) is a fundamental task for integrating 3D observations in remote sensing applications. This paper proposes a fast and effective PCR algorithm utilizing probabilistic self-updating local correspondence and line…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

This paper presents SynapticCore-X, a modular and resource-efficient neural processing architecture optimized for deployment on low-cost FPGA platforms. The design integrates a lightweight RV32IMC RISC-V control core with a configurable…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…