相关论文: Underground Mapping and Localization Based on Grou…

When performing robot/vehicle localization using ground penetrating radar (GPR) to handle adverse weather and environmental conditions, existing techniques often struggle to accurately estimate distances when processing B-scan images with…

Buried landmines and unexploded remnants of war are a constant threat for the population of many countries that have been hit by wars in the past years. The huge amount of human lives lost due to this phenomenon has been a strong motivation…

Airborne light detection and ranging (LiDAR) plays an increasingly significant role in urban planning, topographic mapping, environmental monitoring, power line detection and other fields thanks to its capability to quickly acquire…

This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for…

To augment training data for machine learning models in Ground Penetrating Radar (GPR) data classification and identification, this thesis focuses on the generation of realistic GPR data using Generative Adversarial Networks. An innovative…

Surface-based geodesic topology provides strong cues for object semantic analysis and geometric modeling. However, such connectivity information is lost in point clouds. Thus we introduce GeoNet, the first deep learning architecture trained…

Building Information Modeling (BIM) is increasingly used in the construction industry, but existing studies often ignore embedded rebars. Ground Penetrating Radar (GPR) provides a potential solution to develop as-built BIM with surface…

In recent years, the number of remote satellites orbiting the Earth has grown significantly, streaming vast amounts of high-resolution visual data to support diverse applications across civil, public, and military domains. Among these…

Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…

Neural implicit representations have emerged as a powerful paradigm for 3D reconstruction. However, despite their success, existing methods fail to capture fine geometric details and thin structures, especially in scenarios where only…

In autonomous driving pipelines, perception modules provide a visual understanding of the surrounding road scene. Among the perception tasks, vehicle detection is of paramount importance for a safe driving as it identifies the position of…

LiDAR (Light Detection and Ranging) is an advanced active remote sensing technique working on the principle of time of travel (ToT) for capturing highly accurate 3D information of the surroundings. LiDAR has gained wide attention in…

Ground penetrating radar (GPR) provides a promising technology for accurate subsurface object detection. In particular, it has shown promise for detecting landmines with low metal content. However, the ground bounce (GB) that is present in…

Traditional ground-penetrating radar (GPR) data inversion leverages iterative algorithms which suffer from high computation costs and low accuracy when applied to complex subsurface scenarios. Existing deep learning-based methods focus on…

Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…

Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…

One of the main challenges in LiDAR-based 3D object detection is that the sensors often fail to capture the complete spatial information about the objects due to long distance and occlusion. Two-stage detectors with point cloud completion…

Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…

Identifying changes in a pair of 3D aerial LiDAR point clouds, obtained during two distinct time periods over the same geographic region presents a significant challenge due to the disparities in spatial coverage and the presence of noise…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…