The recognition of three-dimensional (3D) lidar (light detection and ranging) point clouds remains a significant issue in point cloud processing. Traditional point cloud recognition employs the 3D point clouds from the whole object. Nevertheless, the lidar data is a collection of two-and-a-half-dimensional (2.5D) point clouds (each 2.5D point cloud comes from a single view) obtained by scanning the object within a certain field angle by lidar. To deal with this problem, we initially propose a novel representation which expresses 3D point clouds using 2.5D point clouds from multiple views and then we generate multi-view 2.5D point cloud data based on the Point Cloud Library (PCL). Subsequently, we design an effective recognition model based on a multi-view convolutional neural network. The model directly acts on the raw 2.5D point clouds from all views and learns to get a global feature descriptor by fusing the features from all views by the view fusion network. It has been proved that our approach can achieve an excellent recognition performance without any requirement for three-dimensional reconstruction and the preprocessing of point clouds. In conclusion, this paper can effectively solve the recognition problem of lidar point clouds and provide vital practical value.

Recognition of three-dimensional (3D) shape is a remarkable subject in computer vision systems, because of the lack of excellent shape representations. With the development of 2.5D depth sensors, shape recognition is becoming more important in practical applications. Many methods have been proposed to preprocess 3D shapes, in order to get available input data. A common approach employs convolutional neural networks (CNNs), which have become a powerful tool to solve many problems in the field of computer vision. DeepPano, a variant of CNN, converts each 3D shape into a panoramic view and shows excellent performance. It is worth paying attention to the fact that both serious information loss and redundancy exist in the processing of DeepPano, which limits further improvement of its performance. In this work, we propose a more effective method to preprocess 3D shapes also based on a panoramic view, similar to DeepPano. We introduce a novel method to expand the training set and optimize the architecture of the network. The experimental results show that our approach outperforms DeepPano and can deal with more complex 3D shape recognition problems with a higher diversity of target orientation.

This paper focuses on the mean square exponential synchronization problem for a class of stochastic perturbed complex networks with Poisson noise. Different from the previous works, here the structure of the dynamical network is assumed to be directed and strongly connected. By designing a single state-feedback controller and using the stability theory of stochastic differential dynamics, some synchronization criteria are obtained to guarantee that the complex network with Poisson noise perturbation can be synchronized to an isolated system in mean square. Finally, numerical examples are provided to illustrate the effectiveness of the proposed approach.