相关论文: An Onboard Framework for Staircases Modeling Based…

Multiview detection uses multiple calibrated cameras with overlapping fields of views to locate occluded pedestrians. In this field, existing methods typically adopt a ``human modeling - aggregation'' strategy. To find robust pedestrian…

3D point clouds are increasingly vital for applications like autonomous driving and robotics, yet the raw data captured by sensors often suffer from noise and sparsity, creating challenges for downstream tasks. Consequently, point cloud…

Existing learning-based surface reconstruction methods from point clouds are still facing challenges in terms of scalability and preservation of details on large-scale point clouds. In this paper, we propose the SSRNet, a novel scalable…

This paper describes a method of estimating the traversability of plant parts covering a path and navigating through them for mobile robots operating in plant-rich environments. Conventional mobile robots rely on scene recognition methods…

Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…

We present a novel deep learning framework for flow field predictions in irregular domains when the solution is a function of the geometry of either the domain or objects inside the domain. Grid vertices in a computational fluid dynamics…

To deal with the exhausting annotations, self-supervised representation learning from unlabeled point clouds has drawn much attention, especially centered on augmentation-based contrastive methods. However, specific augmentations hardly…

Environment perception including detection, classification, tracking, and motion prediction are key enablers for automated driving systems and intelligent transportation applications. Fueled by the advances in sensing technologies and…

Accurate identification of anatomical landmarks is crucial for various medical applications. Traditional manual landmarking is time-consuming and prone to inter-observer variability, while rule-based methods are often tailored to specific…

This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…

We propose a new approach to human clothing modeling based on point clouds. Within this approach, we learn a deep model that can predict point clouds of various outfits, for various human poses, and for various human body shapes. Notably,…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

Robotic agents need to understand how to interact with objects in their environment, both autonomously and during human-robot interactions. Affordance detection on 3D point clouds, which identifies object regions that allow specific…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Skeletonization is a powerful tool for shape analysis, rooted in the inherent instinct to understand an object's morphology. It has found applications across various domains, including robotics. Although skeletonization algorithms have been…

We present TransLPC, a novel detection model for large point clouds that is based on a transformer architecture. While object detection with transformers has been an active field of research, it has proved difficult to apply such models to…

Scene graphs have emerged as a powerful tool for robots, providing a structured representation of spatial and semantic relationships for advanced task planning. Despite their potential, conventional 3D indoor scene graphs face critical…

Point cloud surface reconstruction has improved in accuracy with advances in deep learning, enabling applications such as infrastructure inspection. Recent approaches that reconstruct from small local regions rather than entire point clouds…