相关论文: Incremental Semantics-Aided Meshing from LiDAR-Ine…

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…

Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit…

Existing LiDAR-based 3D object detectors typically rely on manually annotated labels for training to achieve good performance. However, obtaining high-quality 3D labels is time-consuming and labor-intensive. To address this issue, recent…

In this paper, we propose a novel LiDAR(-inertial) odometry and mapping framework to achieve the goal of simultaneous localization and meshing in real-time. This proposed framework termed ImMesh comprises four tightly-coupled modules:…

Modeling scene geometry using implicit neural representation has revealed its advantages in accuracy, flexibility, and low memory usage. Previous approaches have demonstrated impressive results using color or depth images but still have…

Models for semantic segmentation require a large amount of hand-labeled training data which is costly and time-consuming to produce. For this purpose, we present a label fusion framework that is capable of improving semantic pixel labels of…

We present a method to jointly refine the geometry and semantic segmentation of 3D surface meshes. Our method alternates between updating the shape and the semantic labels. In the geometry refinement step, the mesh is deformed with…

Despite having achieved real-time performance in mesh construction, most of the current LiDAR odometry and meshing methods may struggle to deal with complex scenes due to relying on explicit meshing schemes. They are usually sensitive to…

Indoor scene understanding remains a fundamental challenge in robotics, with direct implications for downstream tasks such as navigation and manipulation. Traditional approaches often rely on closed-set recognition or loop closure, limiting…

In this work, we investigate various methods to deal with semantic labeling of very high resolution multi-modal remote sensing data. Especially, we study how deep fully convolutional networks can be adapted to deal with multi-modal and…

Semantic labelling is highly correlated with geometry and radiance reconstruction, as scene entities with similar shape and appearance are more likely to come from similar classes. Recent implicit neural reconstruction techniques are…

Robots operating in unstructured environments require a comprehensive understanding of their surroundings, necessitating geometric and semantic information from sensor data. Traditional RGB-D processing pipelines focus primarily on…

LiDAR and camera fusion techniques are promising for achieving 3D object detection in autonomous driving. Most multi-modal 3D object detection frameworks integrate semantic knowledge from 2D images into 3D LiDAR point clouds to enhance…

Building an online 3D LiDAR mapping system that produces a detailed surface reconstruction while remaining computationally efficient is a challenging task. In this paper, we present PlanarMesh, a novel incremental, mesh-based LiDAR…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

In this paper we introduce a novel way to predict semantic information from sparse, single-shot LiDAR measurements in the context of autonomous driving. In particular, we fuse learned features from complementary representations. The…

Scene understanding is an important capability for robots acting in unstructured environments. While most SLAM approaches provide a geometrical representation of the scene, a semantic map is necessary for more complex interactions with the…

In complex environments, autonomous robot navigation and environmental perception pose higher requirements for SLAM technology. This paper presents a novel method for semantically enhancing 3D point cloud maps with thermal information. By…

Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain. In this work, we explore a central 3D scene modeling task, namely, semantic scene reconstruction without…

Large language models (LLMs) have recently been used as structured decoders for indoor understanding from 3D point-token inputs. However, point cloud encoders often under-represent thin structural elements such as doors and windows after…