相关论文: Unlocking Generalization Power in LiDAR Point Clou…

Data-driven robotic learning faces an obvious dilemma: robust policies demand large-scale, high-quality demonstration data, yet collecting such data remains a major challenge owing to high operational costs, dependence on specialized…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

State-of-the-art LiDAR calibration frameworks mainly use non-probabilistic registration methods such as Iterative Closest Point (ICP) and its variants. These methods suffer from biased results due to their pair-wise registration procedure…

Point cloud registration is a common step in many 3D computer vision tasks such as object pose estimation, where a 3D model is aligned to an observation. Classical registration methods generalize well to novel domains but fail when given a…

Previous studies have demonstrated the effectiveness of point-based neural models on the point cloud analysis task. However, there remains a crucial issue on producing the efficient input embedding for raw point coordinates. Moreover,…

Point clouds are widely used representations of 3D data, but determining the visibility of points from a given viewpoint remains a challenging problem due to their sparse nature and lack of explicit connectivity. Traditional methods, such…

Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…

End-to-end perception and trajectory prediction from raw sensor data is one of the key capabilities for autonomous driving. Modular pipelines restrict information flow and can amplify upstream errors. Recent query-based, fully…

We propose GOTPR, a robust place recognition method designed for outdoor environments where GPS signals are unavailable. Unlike existing approaches that use point cloud maps, which are large and difficult to store, GOTPR leverages scene…

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…

Over the past few years, there has been remarkable progress in research on 3D point clouds and their use in autonomous driving scenarios has become widespread. However, deep learning methods heavily rely on annotated data and often face…

Accurate geo-registration of LiDAR point clouds remains a significant challenge in urban environments where Global Navigation Satellite System (GNSS) signals are denied or degraded. Existing methods typically rely on real-time GNSS and…

In autonomous navigation systems, the solution of the place recognition problem is crucial for their safe functioning. But this is not a trivial solution, since it must be accurate regardless of any changes in the scene, such as seasonal…

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…

With the development of numerous 3D sensing technologies, object registration on cross-source point cloud has aroused researchers' interests. When the point clouds are captured from different kinds of sensors, there are large and different…

Probabilistic methods for point set registration have demonstrated competitive results in recent years. These techniques estimate a probability distribution model of the point clouds. While such a representation has shown promise, it is…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

LiDAR point clouds, which are usually scanned by rotating LiDAR sensors continuously, capture precise geometry of the surrounding environment and are crucial to many autonomous detection and navigation tasks. Though many 3D deep…

The image compression model has long struggled with adaptability and generalization, as the decoded bitstream typically serves only human or machine needs and fails to preserve information for unseen visual tasks. Therefore, this paper…

Global registration is a fundamental task that estimates the relative pose between two viewpoints of 3D point clouds. However, there are two issues that degrade the performance of global registration in LiDAR SLAM: one is the sparsity issue…