相关论文: A 3D Multimodal Feature for Infrastructure Anomaly…

We present a new way to detect 3D objects from multimodal inputs, leveraging both LiDAR and RGB cameras in a hybrid late-cascade scheme, that combines an RGB detection network and a 3D LiDAR detector. We exploit late fusion principles to…

Ensuring safety and reliability in human-robot interaction (HRI) requires the timely detection of unexpected events that could lead to system failures or unsafe behaviours. Anomaly detection thus plays a critical role in enabling robots to…

As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…

This paper presents a hybrid data-driven physics model-based framework for real time monitoring in smart grids. As the power grid transitions to the use of smart grid technology, it's real time monitoring becomes more vulnerable to cyber…

Multi-head detectors typically employ a features-fused-pyramid-neck for multi-scale detection and are widely adopted in the industry. However, this approach faces feature misalignment when representations from different hierarchical levels…

Multi-modal methods based on camera and LiDAR sensors have garnered significant attention in the field of 3D detection. However, many prevalent works focus on single or partial stage fusion, leading to insufficient feature extraction and…

Many recent works on 3D object detection have focused on designing neural network architectures that can consume point cloud data. While these approaches demonstrate encouraging performance, they are typically based on a single modality and…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

This article proposes a novel unsupervised learning framework for detecting the number of tunnel junctions in subterranean environments based on acquired 2D point clouds. The implementation of the framework provides valuable information for…

Lidars and cameras are critical sensors that provide complementary information for 3D detection in autonomous driving. While prevalent multi-modal methods simply decorate raw lidar point clouds with camera features and feed them directly to…

Current multispectral object detection methods often retain extraneous background or noise during feature fusion, limiting perceptual performance. To address this, we propose an innovative feature fusion framework based on cross-modal…

Image data has a great potential of helping conventional visual inspections of civil engineering structures due to the ease of data acquisition and the advantages in capturing visual information. A variety of techniques have been proposed…

In recent years, significant progress has been achieved for 3D object detection on point clouds thanks to the advances in 3D data collection and deep learning techniques. Nevertheless, 3D scenes exhibit a lot of variations and are prone to…

Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…

Over the last few decades, extensive use of information and communication technologies has been the main driver of the digitalization of power systems. Proper and secure monitoring of the critical grid infrastructure became an integral part…

Recent progress on 2D object detection has featured Cascade RCNN, which capitalizes on a sequence of cascade detectors to progressively improve proposal quality, towards high-quality object detection. However, there has not been evidence in…

Recent machine learning-based multi-object tracking (MOT) frameworks are becoming popular for 3-D point clouds. Most traditional tracking approaches use filters (e.g., Kalman filter or particle filter) to predict object locations in a time…

In this work, we propose a novel method termed \emph{Frustum ConvNet (F-ConvNet)} for amodal 3D object detection from point clouds. Given 2D region proposals in an RGB image, our method first generates a sequence of frustums for each region…

This pilot study presents a novel, automated, and scalable methodology for detecting and evaluating subsurface defect-prone regions in concrete slabs using Impact Echo (IE) signal analysis. The approach integrates advanced signal…

Feature fusion and similarity computation are two core problems in 3D object tracking, especially for object tracking using sparse and disordered point clouds. Feature fusion could make similarity computing more efficient by including…