3D perception algorithm of unstructured environment based on point cloud enhanced pixel fusion (opens in new tab)

Based on the complementary and enhanced fusion of 3D point clouds and 2D RGB images, this paper designs an end-to-end learning framework—Point Cloud Enhanced Depth Pixel Fusion Network (PEPF-Net), aimed at enabling robots to achieve accurate 3D perception of unstructured environments. In the process, we address four key problems in 3D perception tasks: enhancing RGB representation using the reflection intensity and depth information of point clouds to generate Depth-RGB Pixel (D-Pixel); propo...