3DmFV: Three-Dimensional Point Cloud Classification in Real-Time Using Convolutional Neural Networks.

Modern robotic systems are often equipped with a direct three-dimensional (3-D) data acquisition device, e.g., LiDAR, which provides a rich 3-D point cloud representation of the surroundings. This representation is commonly used for obstacle avoidance and mapping. Here, we propose a new approach for using point clouds for another critical robotic capability, semantic understanding of the environme...