相关论文: Clustering-based Learning for UAV Tracking and Pos…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

3D Multi-object tracking (MOT) ensures consistency during continuous dynamic detection, conducive to subsequent motion planning and navigation tasks in autonomous driving. However, camera-based methods suffer in the case of occlusions and…

Pose estimation purely based on 3D point-cloud could suffer from degradation, e.g. scan blocks or scans in repetitive environments. To deal with this problem, we propose an approach for fusing 3D spinning LiDAR and IMU to estimate the…

Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…

We propose a novel framework for image clustering that incorporates joint representation learning and clustering. Our method consists of two heads that share the same backbone network - a "representation learning" head and a "clustering"…

Visual localization plays an important role for intelligent robots and autonomous driving, especially when the accuracy of GNSS is unreliable. Recently, camera localization in LiDAR maps has attracted more and more attention for its low…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…

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,…

In this paper, we study the problem of unsupervised object detection from 3D point clouds in self-driving scenes. We present a simple yet effective method that exploits (i) point clustering in near-range areas where the point clouds are…

3D single object tracking in LiDAR point clouds (LiDAR SOT) plays a crucial role in autonomous driving. Current approaches all follow the Siamese paradigm based on appearance matching. However, LiDAR point clouds are usually textureless and…

Clustering objects from the LiDAR point cloud is an important research problem with many applications such as autonomous driving. To meet the real-time requirement, existing research proposed to apply the connected-component-labeling (CCL)…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Point cloud classification plays an important role in a wide range of airborne light detection and ranging (LiDAR) applications, such as topographic mapping, forest monitoring, power line detection, and road detection. However, due to the…

This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…

Radar sensors provide a unique method for executing environmental perception tasks towards autonomous driving. Especially their capability to perform well in adverse weather conditions often makes them superior to other sensors such as…

Unsupervised landmarks discovery (ULD) for an object category is a challenging computer vision problem. In pursuit of developing a robust ULD framework, we explore the potential of a recent paradigm of self-supervised learning algorithms,…

Target tracking is an important issue of social security. In order to track a target, traditionally a large amount of surveillance video data need to be uploaded into the cloud for processing and analysis, which put stremendous bandwidth…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…

This work leverages the U.S. Federal Aviation Administration's Traffic Flow Management System dataset and DV8, a recently developed tool for highly interactive visualization of air traffic data, to develop clustering algorithms for…

Point cloud processing as a fundamental task in the field of geomatics and computer vision, has been supporting tasks and applications at different scales from air to ground, including mapping, environmental monitoring, urban/tree structure…