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

Current neural networks-based object detection approaches processing LiDAR point clouds are generally trained from one kind of LiDAR sensors. However, their performances decrease when they are tested with data coming from a different LiDAR…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

We present a novel and flexible architecture for point cloud segmentation with dual-representation iterative learning. In point cloud processing, different representations have their own pros and cons. Thus, finding suitable ways to…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While most prevalent methods progressively downscale the 3D point clouds and camera images and then fuse the high-level…

Unsupervised domain adaptation (UDA) in 3D segmentation tasks presents a formidable challenge, primarily stemming from the sparse and unordered nature of point cloud data. Especially for LiDAR point clouds, the domain discrepancy becomes…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

State-of-the-art techniques for monocular camera reconstruction predominantly rely on the Structure from Motion (SfM) pipeline. However, such methods often yield reconstruction outcomes that lack crucial scale information, and over time,…

Polarimetric synthetic aperture radar (PolSAR) image interpretation is widely used in various fields. Recently, deep learning has made significant progress in PolSAR image classification. Supervised learning (SL) requires a large amount of…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

LiDAR point cloud frame interpolation, which synthesizes the intermediate frame between the captured frames, has emerged as an important issue for many applications. Especially for reducing the amounts of point cloud transmission, it is by…

The popularisation of acquisition devices capable of capturing volumetric information such as LiDAR scans and depth cameras has lead to an increased interest in point clouds as an imaging modality. Due to the high amount of data needed for…

This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…

3D perception in LiDAR point clouds is crucial for a self-driving vehicle to properly act in 3D environment. However, manually labeling point clouds is hard and costly. There has been a growing interest in self-supervised pre-training of 3D…

Parameter-efficient fine-tuning strategies for foundation models in 1D textual and 2D visual analysis have demonstrated remarkable efficacy. However, due to the scarcity of point cloud data, pre-training large 3D models remains a…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…