相关论文: EdgeRegNet: Edge Feature-based Multimodal Registra…

Point cloud registration is a fundamental task in many applications such as localization, mapping, tracking, and reconstruction. Successful registration relies on extracting robust and discriminative geometric features. Though existing…

Thanks to the complementary nature of millimeter wave radar and camera, deep learning-based radar-camera 3D object detection methods may reliably produce accurate detections even in low-visibility conditions. This makes them preferable to…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Registration is a fundamental but critical task in point cloud processing, which usually depends on finding element correspondence from two point clouds. However, the finding of reliable correspondence relies on establishing a robust and…

Image registration is a classic problem of computer vision with several applications across areas like defence, remote sensing, medicine etc. Feature based image registration methods traditionally used hand-crafted feature extraction…

Multimodal remote sensing data, including spectral and lidar or photogrammetry, is crucial for achieving satisfactory land-use / land-cover classification results in urban scenes. So far, most studies have been conducted in a 2D context.…

We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object…

Prior point cloud provides 3D environmental context, which enhances the capabilities of monocular camera in downstream vision tasks, such as 3D object detection, via data fusion. However, the absence of accurate and automated registration…

Although point cloud registration has achieved remarkable advances in object-level and indoor scenes, large-scale registration methods are rarely explored. Challenges mainly arise from the huge point number, complex distribution, and…

Feature Descriptors and Detectors are two main components of feature-based point cloud registration. However, little attention has been drawn to the explicit representation of local and global semantics in the learning of descriptors and…

PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…

Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

Three-dimensional (3D) shape recognition has drawn much research attention in the field of computer vision. The advances of deep learning encourage various deep models for 3D feature representation. For point cloud and multi-view data, two…

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…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Medical image registration is crucial for various clinical and research applications including disease diagnosis or treatment planning which require alignment of images from different modalities, time points, or subjects. Traditional…

Aiming at highly accurate object detection for connected and automated vehicles (CAVs), this paper presents a Deep Neural Network based 3D object detection model that leverages a three-stage feature extractor by developing a novel…

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…