ICRA2018点云相关论文汇总

1.Incremental Segment-Based Localization in 3D Point Clouds

We propose an efficient method for localization based on 3D segment matching.
A set of incremental algorithms for the normal estimation, segmentation and recognition steps is presented.
Localization at 10Hz in urban driving environment is achieved (speedup of x7.1 over batch solution).
The implementation is available open source:

2.SqueezeSeg: Convolutional Neural Nets with Recurrent CRF for Real-Time Road-Object Segmentation from 3D LiDAR Point Cloud

LiDAR point cloud segmentation is important for autonomous driving.
We propose a CNN based model with high accuracy and real-time inference speed.
Real-world data and simulated data are combined to train the model.
Source code is released: https://github.com/BichenWuUCB/SqueezeSeg

3.Sampled-Point Network for Classification of Deformed Building Element Point Clouds

Recognizing deformed objects is critical for disaster relief robots
A deep learning method is proposed to classify deformed building elements from point clouds
Synthetic deformations such as noise, bending, and truncation were applied to a CAD model database
Robustness was achieved using improved regularization such as point sorting and resampling

4.GemSketch: Interactive Image-Guided Geometry Extraction from Point Clouds

Interactive sketching for extracting geometries from point clouds
Objects represented as generalized cylinders and cuboids
Accurate within 5.66% Hausdorff distance for BigBIRD ground truth.
Geometries produced used for object manipulation in clutter

5.Signature of Topologically Persistent Points for 3D Point Cloud Description

We present the Signature of Topologically Persistent Points (STPP), a global descriptor for 3D point cloud data
STPP uses persistent homology to encode a topological signature based on the birth-death pairing of the homology generators
STPP can be computed quickly and efficiently, requires no preprocessing of the data, uses a single tuning parameter, and is competitive with state of the art global descriptors

6.AA-ICP: Iterative Closest Point with Anderson Acceleration

We propose to apply Anderson acceleration (AA) for ICP instead of the commonly used Picard iteration procedure: xi+1 = ICP(xi)
AA uses history of previous iterations to find a better guess for the next iteration
AA-ICP was implemented as a part of Point Cloud Library (PCL)
On real-world data AA-ICP converges significantly faster (up to 30-40%) compared to the unmodified ICP

7.Noise-Resistant Deep Learning for Object Classification in 3D Point Clouds Using a Point Pair Descriptor

Novel 4D convolutional neural network architecture using descriptor values as input
High robustness to noise and occlusion for realistic indoor point cloud data
Superior performance for retrieval and classification on ScanNet and Stanford datasets
More details at https://rebrand.ly/obj-desc

8.Real-Time Object Tracking in Sparse Point Clouds Based on 3D Interpolation

New methods even to track sparse point cloud objects in real time is proposed.
Proposed 3D interpolation for distributions, called EVD, augments information at unoccupied areas of target object.
Through a coarse-to-fine grid search for real-time processing, the tracker find the optimal difference

9.Robust Generalized Point Cloud Registration Using Hybrid Mixture Model

A novel point cloud registration method is proposed where the orientation information associated with each point is utilized.
In the M-step of the algorithm, a closed-form solution to the scalar weighted rigid registration problem is proposed.
The experiments demonstrate the proposed algorithm outperforms the other two under conditions of various noise levels, outliers percentages.

10.A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration

Register point clouds with no explicit correspondences
We currently use intensity, range and normals for registration
Easy to extend for using other cues
Runs at framerate on TUM and KITTI data

11.Spatiotemporal Learning of Dynamic Gestures from 3D Point Cloud Data

We demonstrate an end-to-end spatiotemporal gesture learning approach for 3D point cloud data using a new gestures dataset of point clouds acquired from a 3D sensor
Nine classes of gestures were learned from gestures sample data through a 3D convolutional neural network that learns the spatiotemporal features in the data without explicit modeling of gesture dynamics.
The developed model is able to classify gestures from the dataset with 84.44% accuracy.

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原文：https://blog.csdn.net/qq_33278989/article/details/81835625
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