7 papers
Towards 3D karst underwater scene reconstruction from rotating sonar data
Georgios Evangelos Margaritis, Lionel Lapierre, Simon Rohou +3
Karst aquifers provide critical freshwater resources but pose significant hazards due to their complex and poorly understood subsurface geometry. Mapping these environments is chal…
Is Semantic SLAM Ready for Embedded Systems ? A Comparative Survey
Calvin Galagain, Martyna Poreba, François Goulette
Semantic SLAM holds promise for robust robot navigation in complex environments, but its practicality on embedded systems remains uncertain. This paper presents a comparative surve…
ParisLuco3D: A high-quality target dataset for domain generalization of LiDAR perception
Jules Sanchez, Louis Soum-Fontez, Jean-Emmanuel Deschaud +1
LiDAR is an essential sensor for autonomous driving by collecting precise geometric information regarding a scene. %Exploiting this information for perception is interesting as the…
KPConv: Flexible and Deformable Convolution for Point Clouds
Hugues Thomas, Charles R. Qi, Jean-Emmanuel Deschaud +3
We present Kernel Point Convolution (KPConv), a new design of point convolution, i.e. that operates on point clouds without any intermediate representation. The convolution weights…
Computational Fluid Dynamics on 3D Point Set Surfaces
Hassan Bouchiba, Simon Santoso, Jean-Emmanuel Deschaud +3
Computational fluid dynamics (CFD) in many cases requires designing 3D models manually, which is a tedious task that requires specific skills. In this paper, we present a novel met…
Semantic Classification of 3D Point Clouds with Multiscale Spherical Neighborhoods
Hugues Thomas, Jean-Emmanuel Deschaud, Beatriz Marcotegui +2
This paper introduces a new definition of multiscale neighborhoods in 3D point clouds. This definition, based on spherical neighborhoods and proportional subsampling, allows the co…