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

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

While MPEG-standardized video-based point cloud compression (VPCC) achieves high compression efficiency for human perception, it struggles with a poor trade-off between bitrate savings and detection accuracy when supporting 3D object…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

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…

Recent advances in computer vision has led to a growth of interest in deploying visual analytics model on mobile devices. However, most mobile devices have limited computing power, which prohibits them from running large scale visual…

4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…

Machine vision systems, which can efficiently manage extensive visual perception tasks, are becoming increasingly popular in industrial production and daily life. Due to the challenge of simultaneously obtaining accurate depth and texture…

In most modern object detection pipelines, the detection proposals are processed independently given the feature map. Therefore, they overlook the underlying relationships between objects and the surrounding background, which could have…

3D object detection from LiDAR point cloud is a challenging problem in 3D scene understanding and has many practical applications. In this paper, we extend our preliminary work PointRCNN to a novel and strong point-cloud-based 3D object…

The task of detecting 3D objects is important to various robotic applications. The existing deep learning-based detection techniques have achieved impressive performance. However, these techniques are limited to run with a graphics…

In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical…

Road curb detection is very important and necessary for autonomous driving because it can improve the safety and robustness of robot navigation in the outdoor environment. In this paper, a novel road curb detection method based on tensor…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

A lot of work has been done to reach the best possible performance of predictive models on images. There are fewer studies about the resilience of these models when they are trained on image datasets that suffer modifications altering their…

In this thesis a probabilistic framework is developed and proposed for Dynamic Object Recognition in 3D Environments. A software package is developed using C++ and Python in ROS that performs the detection and tracking task. Furthermore, a…

Point cloud is a crucial representation of 3D contents, which has been widely used in many areas such as virtual reality, mixed reality, autonomous driving, etc. With the boost of the number of points in the data, how to efficiently…

Signals emitted by LiDAR sensors would often be negatively influenced during transmission by rain, fog, dust, atmospheric particles, scattering of light and other influencing factors, causing noises in point cloud images. To address this…

A point cloud is a crucial geometric data structure utilized in numerous applications. The adoption of deep neural networks referred to as Point Cloud Neural Networks (PC- NNs), for processing 3D point clouds, has significantly advanced…

Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…

Small objects have relatively low resolution, the unobvious visual features which are difficult to be extracted, so the existing object detection methods cannot effectively detect small objects, and the detection speed and stability are…