相关论文: Automating Infrastructure Surveying: A Framework f…
In this paper, based on the assumption that the object boundaries (e.g., buildings) from the over-view data should coincide with footprints of fa\c{c}ade 3D points generated from street-view photogrammetric images, we aim to address this…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
Built environment auditing refers to the systematic documentation and assessment of urban and rural spaces' physical, social, and environmental characteristics, such as walkability, road conditions, and traffic lights. It is used to collect…
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…
High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…
Curb detection is a crucial function in intelligent driving, essential for determining drivable areas on the road. However, the complexity of road environments makes curb detection challenging. This paper introduces CurbNet, a novel…
Reticular structures form the backbone of major infrastructure like bridges, pylons, and airports, but their inspection and maintenance are costly and hazardous, often requiring human intervention. While prior research has focused on fault…
This study addresses the challenge of accurately forecasting geometric deviations in manufactured components using advanced 3D surface analysis. Despite progress in modern manufacturing, maintaining dimensional precision remains difficult,…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
The usage of environment sensor models for virtual testing is a promising approach to reduce the testing effort of autonomous driving. However, in order to deduce any statements regarding the performance of an autonomous driving function…
Recent advancements in statistical learning and computational abilities have enabled autonomous vehicle technology to develop at a much faster rate. While many of the architectures previously introduced are capable of operating under highly…
Established sampling protocols for 3D point cloud learning, such as Farthest Point Sampling (FPS) and Fixed Sample Size (FSS), have long been relied upon. However, real-world data often suffer from corruptions, such as sensor noise, which…
In 3D point cloud understanding, the core challenge lies in accurately capturing discriminative features within complex neighborhoods, which directly affects the execution precision of downstream tasks such as embodied AI and autonomous…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Unmanned Aerial Vehicles (UAVs) are transforming infrastructure inspections in the Architecture, Engineering, Construction, and Facility Management (AEC+FM) domain. By synthesizing insights from over 150 studies, this review paper…
Graph-based methods have proven to be effective in capturing relationships among points for 3D point cloud analysis. However, these methods often suffer from suboptimal graph structures, particularly due to sparse connections at boundary…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
As critical transportation infrastructure, bridges face escalating challenges from aging and deterioration, while traditional manual inspection methods suffer from low efficiency. Although 3D point cloud technology provides a new…
Reliable testing of autonomous driving systems requires simulation environments that combine large-scale traffic modeling with realistic 3D perception and terrain. Existing tools rarely capture real-world elevation, limiting their…
This research focuses on visual industrial inspection by evaluating point clouds and multi-point cloud matching methods. We also introduce a synthetic dataset for quantitative evaluation of registration method and various distance metrics…