相关论文: Point Cloud Structural Similarity-based Underwater…

Visual data in autonomous driving perception, such as camera image and LiDAR point cloud, can be interpreted as a mixture of two aspects: semantic feature and geometric structure. Semantics come from the appearance and context of objects to…

Recent research has shown the effectiveness of mmWave radar sensing for object detection in low visibility environments, which makes it an ideal technique in autonomous navigation systems. In this paper, we introduce Radar to Point Cloud…

Due to the expensive nature of field data gathering, the lack of training data often limits the performance of Automatic Target Recognition (ATR) systems. This problem is often addressed with domain adaptation techniques, however the…

LiDAR-based 3D object detection and semantic segmentation are critical tasks in 3D scene understanding. Traditional detection and segmentation methods supervise their models through bounding box labels and semantic mask labels. However,…

In the field of deep-sea exploration, sonar is presently the only efficient long-distance sensing device. The complicated underwater environment, such as noise interference, low target intensity or background dynamics, has brought many…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…

LiDAR point clouds are widely used in autonomous driving and consist of large numbers of 3D points captured at high frequency to represent surrounding objects such as vehicles, pedestrians, and traffic signs. While this dense data enables…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Point cloud analysis is the cornerstone of many downstream tasks, among which aggregating local structures is the basis for understanding point cloud data. While numerous works aggregate neighbor using three-dimensional relative…

Registering urban point clouds is a quite challenging task due to the large-scale, noise and data incompleteness of LiDAR scanning data. In this paper, we propose SARNet, a novel semantic augmented registration network aimed at achieving…

Object detection in sonar images is a key technology in underwater detection systems. Compared to natural images, sonar images contain fewer texture details and are more susceptible to noise, making it difficult for non-experts to…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

We present PointFusion, a generic 3D object detection method that leverages both image and 3D point cloud information. Unlike existing methods that either use multi-stage pipelines or hold sensor and dataset-specific assumptions,…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

Advanced 3D metrology technologies such as Coordinate Measuring Machine (CMM) and laser 3D scanners have facilitated the collection of massive point cloud data, beneficial for process monitoring, control and optimization. However, due to…

Classification and segmentation of 3D point clouds are important tasks in computer vision. Because of the irregular nature of point clouds, most of the existing methods convert point clouds into regular 3D voxel grids before they are used…

Point clouds are unstructured and unordered in the embedded 3D space. In order to produce consistent responses under different permutation layouts, most existing methods aggregate local spatial points through maximum or summation operation.…