Sensors (Basel)
November 2022
Indoor-scene semantic segmentation is of great significance to indoor navigation, high-precision map creation, route planning, etc. However, incorporating RGB and HHA images for indoor-scene semantic segmentation is a promising yet challenging task, due to the diversity of textures and structures and the disparity of multi-modality in physical significance. In this paper, we propose a Cross-Modality Attention Network (CMANet) that facilitates the extraction of both RGB and HHA features and enhances the cross-modality feature integration.
View Article and Find Full Text PDFBecause tunnels generally have tubular shapes, the distribution of tie points between adjacent scans is usually limited to a narrow region, which makes the problem of registration error accumulation inevitable. In this paper, a global registration method is proposed based on an augmented extended Kalman filter and a central-axis constraint. The point cloud registration is regarded as a stochastic system, and the global registration is considered to be a process that recursively estimates the rigid transformation parameters between each pair of adjacent scans.
View Article and Find Full Text PDFAlthough RANSAC is proven to be robust, the original RANSAC algorithm selects hypothesis sets at random, generating numerous iterations and high computational costs because many hypothesis sets are contaminated with outliers. This paper presents a conditional sampling method, multiBaySAC (Bayes SAmple Consensus), that fuses the BaySAC algorithm with candidate model parameters statistical testing for unorganized 3D point clouds to fit multiple primitives. This paper first presents a statistical testing algorithm for a candidate model parameter histogram to detect potential primitives.
View Article and Find Full Text PDFIEEE Comput Graph Appl
October 2014