相关论文: Fast 3D point clouds retrieval for Large-scale 3D …

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Object detection in point clouds is an important aspect of many robotics applications such as autonomous driving. In this paper we consider the problem of encoding a point cloud into a format appropriate for a downstream detection pipeline.…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

The current state-of-the-art methods in 3D instance segmentation typically involve a clustering step, despite the tendency towards heuristics, greedy algorithms, and a lack of robustness to the changes in data statistics. In contrast, we…

This paper presents a new approach to 3D object detection that leverages the properties of the data obtained by a LiDAR sensor. State-of-the-art detectors use neural network architectures based on assumptions valid for camera images.…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

This work proposes a general-purpose, fully-convolutional network architecture for efficiently processing large-scale 3D data. One striking characteristic of our approach is its ability to process unorganized 3D representations such as…

Object re-identification (ReID) from images plays a critical role in application domains of image retrieval (surveillance, retail analytics, etc.) and multi-object tracking (autonomous driving, robotics, etc.). However, systems that…

3D single object tracking is a key task in 3D computer vision. However, the sparsity of point clouds makes it difficult to compute the similarity and locate the object, posing big challenges to the 3D tracker. Previous works tried to solve…

In this paper we address the task of finding representative subsets of points in a 3D point cloud by means of a point-wise ordering. Only a few works have tried to address this challenging vision problem, all with the help of hard to obtain…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

An accurate and rapid-response perception system is fundamental for autonomous vehicles to operate safely. 3D object detection methods handle point clouds given by LiDAR sensors to provide accurate depth and position information for each…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

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…

Lidar based 3D object detection and classification tasks are essential for autonomous driving(AD). A lidar sensor can provide the 3D point cloud data reconstruction of the surrounding environment. However, real time detection in 3D point…

3D point cloud classification requires distinct models from 2D image classification due to the divergent characteristics of the respective input data. While 3D point clouds are unstructured and sparse, 2D images are structured and dense.…

DUSt3R has recently shown that one can reduce many tasks in multi-view geometry, including estimating camera intrinsics and extrinsics, reconstructing the scene in 3D, and establishing image correspondences, to the prediction of a pair of…