相关论文: Can We Remove the Ground? Obstacle-aware Point Clo…

In this paper, we introduce PCR-CG: a novel 3D point cloud registration module explicitly embedding the color signals into the geometry representation. Different from previous methods that only use geometry representation, our module is…

Object detection has made impressive progress in recent years with the help of deep learning. However, state-of-the-art algorithms are both computation and memory intensive. Though many lightweight networks are developed for a trade-off…

This paper presents a novel and fast approach for ground plane segmentation in a LiDAR point cloud, specifically optimized for processing speed and hardware efficiency on FPGA hardware platforms. Our approach leverages a channel-based…

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…

Accurate classification of objects in 3D point clouds is a significant problem in several applications, such as autonomous navigation and augmented/virtual reality scenarios, which has become a research hot spot. In this paper, we presented…

Geometry-based point cloud compression (G-PCC), an international standard designed by MPEG, provides a generic framework for compressing diverse types of point clouds while ensuring interoperability across applications and devices. However,…

With the growth of 3D applications and the rapid increase in sensor-collected 3D point cloud data, there is a rising demand for efficient compression algorithms. Most existing learning-based compression methods handle geometry and color…

3D object classification is a crucial problem due to its significant practical relevance in many fields, including computer vision, robotics, and autonomous driving. Although deep learning methods applied to point clouds sampled on CAD…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

As human-machine interaction continues to evolve, the capacity for environmental perception is becoming increasingly crucial. Integrating the two most common types of sensory data, images, and point clouds, can enhance detection accuracy.…

In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…

Nearest-neighbor search in large vector databases is crucial for various machine learning applications. This paper introduces a novel method using tensor-train (TT) low-rank tensor decomposition to efficiently represent point clouds and…

Object detection in images has reached unprecedented performances. The state-of-the-art methods rely on deep architectures that extract salient features and predict bounding boxes enclosing the objects of interest. These methods essentially…

We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…

In order to deal with the sparse and unstructured raw point clouds, LiDAR based 3D object detection research mostly focuses on designing dedicated local point aggregators for fine-grained geometrical modeling. In this paper, we revisit the…

Deep learning has been successfully applied to object detection from remotely sensed images. Images are typically processed on the ground rather than on-board due to the computation power of the ground system. Such offloaded processing…

Three-dimensional (3D) point clouds are important data representations in visualization applications. The rapidly growing utility and popularity of point cloud processing strongly motivate a plethora of research activities on large-scale…

This study develops a unified Point Cloud Geometry (PCG) compression method through the processing of multiscale sparse tensor-based voxelized PCG. We call this compression method SparsePCGC. The proposed SparsePCGC is a low complexity…

Deep neural networks (DNNs) have achieved remarkable success in object detection tasks, but their increasing complexity poses significant challenges for deployment on resource-constrained platforms. While model compression techniques such…

Rotation estimation of known rigid objects is important for robotic applications such as dexterous manipulation. Most existing methods for rotation estimation use intermediate representations such as templates, global or local feature…