相关论文: LitS: A novel Neighborhood Descriptor for Point Cl…

Precise segmentation of architectural structures provides detailed information about various building components, enhancing our understanding and interaction with our built environment. Nevertheless, existing outdoor 3D point cloud datasets…

With the objective of improving the registration of LiDAR point clouds produced by kinematic scanning systems, we propose a novel trajectory adjustment procedure that leverages on the automated extraction of selected reliable 3D…

Semantic segmentation of 3D LiDAR point clouds is important in urban remote sensing for understanding real-world street environments. This task, by projecting LiDAR point clouds and 3D semantic labels as sparse maps, can be reformulated as…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Smart monitoring using three-dimensional (3D) image sensors has been attracting attention in the context of smart cities. In smart monitoring, object detection from point cloud data acquired by 3D image sensors is implemented for detecting…

Learning signed distance functions (SDFs) from 3D point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning…

In this work, we present a novel method to learn a local cross-domain descriptor for 2D image and 3D point cloud matching. Our proposed method is a dual auto-encoder neural network that maps 2D and 3D input into a shared latent space…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

As the development of 3D sensors, registration of 3D data (e.g. point cloud) coming from different kind of sensor is dispensable and shows great demanding. However, point cloud registration between different sensors is challenging because…

3D dynamic point clouds provide a discrete representation of real-world objects or scenes in motion, which have been widely applied in immersive telepresence, autonomous driving, surveillance, etc. However, point clouds acquired from…

Autonomous vehicles need to have a semantic understanding of the three-dimensional world around them in order to reason about their environment. State of the art methods use deep neural networks to predict semantic classes for each point in…

Estimation of differential geometric quantities in discrete 3D data representations is one of the crucial steps in the geometry processing pipeline. Specifically, estimating normals and sharp feature lines from raw point cloud helps improve…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

3D point cloud - a new signal representation of volumetric objects - is a discrete collection of triples marking exterior object surface locations in 3D space. Conventional imperfect acquisition processes of 3D point cloud - e.g.,…

Standard spatial convolutions assume input data with a regular neighborhood structure. Existing methods typically generalize convolution to the irregular point cloud domain by fixing a regular "view" through e.g. a fixed neighborhood size,…

Existing learning-based point feature descriptors are usually task-agnostic, which pursue describing the individual 3D point clouds as accurate as possible. However, the matching task aims at describing the corresponding points consistently…

Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…