Temporal Point Cloud Completion with Pose Disturbance | |
Shi, Jieqi5; Xu LY(许凌云)4; Li, Peiliang3; Chen, Xiaozhi2; Shen, Shaojie1 | |
刊名 | IEEE Robotics and Automation Letters |
2022 | |
页码 | 1-8 |
ISSN号 | 2377-3766 |
产权排序 | 2 |
英文摘要 | Point clouds collected by real-world sensors are always unaligned and sparse, which makes it hard to reconstruct the complete shape of object from a single frame of data. In this work, we manage to provide complete point clouds from sparse input with pose disturbance of limited translation and rotation errors. We also use temporal information to enhance the completion model, refining the output with a sequence of inputs. With the help of gated recovery units(GRU) and attention mechanisms as temporal units, we propose a point cloud completion framework that accepts a sequence of unaligned and sparse inputs, and outputs consistent and aligned point clouds. Our network performs in an online manner and presents a refined point cloud for each frame, which enables it to be integrated into any SLAM or reconstruction pipeline. As far as we know, our framework is the first to utilize temporal information and ensure temporal consistency with limited transformation error. Through experiments in ShapeNet and KITTI, we prove that our framework is effective in both synthetic and real-world datasets. |
语种 | 英语 |
资助机构 | Research Grants Council General Research Fund (RGC GRF) project 16213717 ; HKUST Postgraduate Studentship. |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/30344] |
专题 | 沈阳自动化研究所_机器人学研究室 |
通讯作者 | Shi, Jieqi |
作者单位 | 1.Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China 2.R&D, DJI, Shenzhen, China 3.Department of Electronic & Computer Engineering, HKUST, Robotics Institute, Hong Kong, China 4.shenyang institute of automation, DJI, shenyang, China 5.Electronic and Computer Engineering, Hong Kong University of Technology and Science, Hong Kong, China |
推荐引用方式 GB/T 7714 | Shi, Jieqi,Xu LY,Li, Peiliang,et al. Temporal Point Cloud Completion with Pose Disturbance[J]. IEEE Robotics and Automation Letters,2022:1-8. |
APA | Shi, Jieqi,Xu LY,Li, Peiliang,Chen, Xiaozhi,&Shen, Shaojie.(2022).Temporal Point Cloud Completion with Pose Disturbance.IEEE Robotics and Automation Letters,1-8. |
MLA | Shi, Jieqi,et al."Temporal Point Cloud Completion with Pose Disturbance".IEEE Robotics and Automation Letters (2022):1-8. |
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