相关论文: Voxel-Based Point Cloud Localization for Smart Spa…

This study proposes a privacy-preserving Visual SLAM framework for estimating camera poses and performing bundle adjustment with mixed line and point clouds in real time. Previous studies have proposed localization methods to estimate a…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

Accurate people localisation using drones is crucial for effective crowd management, not only during massive events and public gatherings but also for monitoring daily urban crowd flow. Traditional methods for tiny object localisation using…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Ground surface detection in point cloud is widely used as a key module in autonomous driving systems. Different from previous approaches which are mostly developed for lidars with high beam resolution, e.g. Velodyne HDL-64, this paper…

Motion planning for robotic manipulators relies on precise knowledge of the environment in order to be able to define restricted areas and to take collision objects into account. To capture the workspace, point clouds of the environment are…

This paper quantifies an error source that limits the accuracy of lidar scan matching, particularly for voxel-based methods. Lidar scan matching, which is used in dead reckoning (also known as lidar odometry) and mapping, computes the…

Environment description-based localization in large-scale point cloud maps constructed through remote sensing is critically significant for the advancement of large-scale autonomous systems, such as delivery robots operating in the last…

This paper presents a visual-inertial odometry-enhanced geometrically stable Iterative Closest Point (ICP) algorithm for accurate mapping using aerial robots. The proposed method employs a visual-inertial odometry framework in order to…

Given the rising urban population and the consequential rise in traffic congestion, the implementation of smart parking systems has emerged as a critical matter of concern. Smart parking solutions use cameras, sensors, and algorithms like…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…

The existing 3D deep learning methods adopt either individual point-based features or local-neighboring voxel-based features, and demonstrate great potential for processing 3D data. However, the point based models are inefficient due to the…

Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on…

With the rapid development of intelligent vehicles and Advanced Driving Assistance Systems (ADAS), a mixed level of human driver engagements is involved in the transportation system. Visual guidance for drivers is essential under this…

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…

This article presents an innovative methodology for locating injection points in injection-molded parts using intelligent models with geometric algorithms for discrete topologies. The first algorithm calculates the center of mass of the…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs to useful intermediate signals such as contact patches…