相关论文: Implicit Guidance and Explicit Representation of S…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…

The recent success of implicit neural scene representations has presented a viable new method for how we capture and store 3D scenes. Unlike conventional 3D representations, such as point clouds, which explicitly store scene properties in…

In the field of autonomous driving and robotics, point clouds are showing their excellent real-time performance as raw data from most of the mainstream 3D sensors. Therefore, point cloud neural networks have become a popular research…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…

Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…

The purpose of intrinsic decomposition is to separate an image into its albedo (reflective properties) and shading components (illumination properties). This is challenging because it's an ill-posed problem. Conventional approaches…

Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised…

Acquisition and processing of point clouds (PCs) is a crucial enabler for many emerging applications reliant on 3D spatial data, such as robot navigation, autonomous vehicles, and augmented reality. In most scenarios, PCs acquired by remote…

Semantic mapping is a key component of robots operating in and interacting with objects in structured environments. Traditionally, geometric and knowledge representations within a semantic map have only been loosely integrated. However,…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

Open-vocabulary 3D scene understanding presents a significant challenge in computer vision, with wide-ranging applications in embodied agents and augmented reality systems. Existing methods adopt neurel rendering methods as 3D…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…

Many point-based semantic segmentation methods have been designed for indoor scenarios, but they struggle if they are applied to point clouds that are captured by a LiDAR sensor in an outdoor environment. In order to make these methods more…

In the field of autonomous driving, a variety of sensor data types exist, each representing different modalities of the same scene. Therefore, it is feasible to utilize data from other sensors to facilitate image compression. However, few…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

Semantic segmentation of point clouds, aiming to assign each point a semantic category, is critical to 3D scene understanding.Despite of significant advances in recent years, most of existing methods still suffer from either the…