相关论文: LPRnet: A self-supervised registration network for…

Panoptic segmentation of point clouds is a crucial task that enables autonomous vehicles to comprehend their vicinity using their highly accurate and reliable LiDAR sensors. Existing top-down approaches tackle this problem by either…

In this paper, we propose SpotNet: a fast, single stage, image-centric but LiDAR anchored approach for long range 3D object detection. We demonstrate that our approach to LiDAR/image sensor fusion, combined with the joint learning of 2D and…

Applications based on synergistic integration of optical imagery and LiDAR data are receiving a growing interest from the remote sensing community. However, a misaligned integration between these datasets may fail to fully profit the…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

This paper presents a novel scheme to efficiently compress Light Detection and Ranging~(LiDAR) point clouds, enabling high-precision 3D scene archives, and such archives pave the way for a detailed understanding of the corresponding 3D…

The commonly adopted detect-then-match approach to registration finds difficulties in the cross-modality cases due to the incompatible keypoint detection and inconsistent feature description. We propose, 2D3D-MATR, a detection-free method…

In the field of resource-constrained robots and the need for effective place recognition in multi-robotic systems, this article introduces RecNet, a novel approach that concurrently addresses both challenges. The core of RecNet's…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Multimodal image registration is a fundamental task and a prerequisite for downstream cross-modal analysis. Despite recent progress in shared feature extraction and multi-scale architectures, two key limitations remain. First, some methods…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

The majority of point cloud registration methods currently rely on extracting features from points. However, these methods are limited by their dependence on information obtained from a single modality of points, which can result in…

The validation of LiDAR-based perception of intelligent mobile systems operating in open-world applications remains a challenge due to the variability of real environmental conditions. Virtual simulations allow the generation of arbitrary…

With the development of 3D scanning technologies, 3D vision tasks have become a popular research area. Owing to the large amount of data acquired by sensors, unsupervised learning is essential for understanding and utilizing point clouds…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

LiDAR sensors provide high-resolution 3D perception and long-range detection, making them indispensable for autonomous driving and robotics. However, their performance significantly degrades under adverse weather conditions such as snow,…

With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…

Transformer-based Self-supervised Representation Learning methods learn generic features from unlabeled datasets for providing useful network initialization parameters for downstream tasks. Recently, self-supervised learning based upon…

A Colored point cloud, as a simple and efficient 3D representation, has many advantages in various fields, including robotic navigation and scene reconstruction. This representation is now commonly used in 3D reconstruction tasks relying on…

This article presents an innovative study in exploring, evaluating, and implementing deep learning architectures for the calibration of multi-modal sensor systems. The focus behind this is to leverage the use of sensor fusion to achieve…

Rigid registration of multi-view and multi-platform LiDAR scans is a fundamental problem in 3D mapping, robotic navigation, and large-scale urban modeling applications. Data acquisition with LiDAR sensors involves scanning multiple areas…