相关论文: Geographical hotspot prediction based on point clo…

A widely-used operation on graphs is local clustering, i.e., extracting a well-characterized community around a seed node without the need to process the whole graph. Recently local motif clustering has been proposed: it looks for a local…

In this work, we study 3D object detection from RGB-D data in both indoor and outdoor scenes. While previous methods focus on images or 3D voxels, often obscuring natural 3D patterns and invariances of 3D data, we directly operate on raw…

Semantic segmentation is a fundamental task in computer vision, which can be considered as a per-pixel classification problem. Recently, although fully convolutional neural network (FCN) based approaches have made remarkable progress in…

A unified neural network structure is presented for joint 3D object detection and point cloud segmentation in this paper. We leverage rich supervision from both detection and segmentation labels rather than using just one of them. In…

The reconstruction of real-world surfaces is on high demand in various applications. Most existing reconstruction approaches apply 3D scanners for creating point clouds which are generally sparse and of low density. These points clouds will…

Due to the difficulty in generating the effective descriptors which are robust to occlusion and viewpoint changes, place recognition for 3D point cloud remains an open issue. Unlike most of the existing methods that focus on extracting…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

In recent years, we have witnessed the presence of point cloud data in many aspects of our life, from immersive media, autonomous driving to healthcare, although at the cost of a tremendous amount of data. In this paper, we present an…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

The past several years have witnessed the emergence of learned point cloud compression (PCC) techniques. However, current learning-based lossless point cloud attribute compression (PCAC) methods either suffer from high computational…

We present \textit{VoxelKP}, a novel fully sparse network architecture tailored for human keypoint estimation in LiDAR data. The key challenge is that objects are distributed sparsely in 3D space, while human keypoint detection requires…

Occluded and long-range objects are ubiquitous and challenging for 3D object detection. Point cloud sequence data provide unique opportunities to improve such cases, as an occluded or distant object can be observed from different viewpoints…

In this study, we firstly introduce a method that converts CityGML data into voxels which works efficiently and fast in high resolution for large scale datasets such as cities but by sacrificing some building details to overcome the…

We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…

3D object detection is receiving increasing attention from both industry and academia thanks to its wide applications in various fields. In this paper, we propose Point-Voxel Region-based Convolution Neural Networks (PV-RCNNs) for 3D object…

The development of 3D scanning technology has enabled the acquisition of massive point cloud models with diverse structures and large scales, thereby presenting significant challenges in point cloud processing. Fast neighboring points…

Point cloud processing has gained significant attention due to its critical role in applications such as autonomous driving and 3D object recognition. However, deploying high-performance models like Point Transformer V3 in…

Global localization in 3D point clouds is a challenging problem of estimating the pose of vehicles without any prior knowledge. In this paper, a solution to this problem is presented by achieving place recognition and metric pose estimation…

Accurate tree detection is of growing importance in applications such as urban planning, forest inventory, and environmental monitoring. In this article, we present an approach to creating tree maps by annotating them in 3D point clouds.…

Spectral clustering is one of the most popular clustering methods. However, how to balance the efficiency and effectiveness of the large-scale spectral clustering with limited computing resources has not been properly solved for a long…