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Diffuse optical tomography (DOT) has been investigated as an alternative imaging modality for breast cancer detection thanks to its excellent contrast to hemoglobin oxidization level. However, due to the complicated non-linear photon…

Following Hartigan, a cluster is defined as a connected component of the t-level set of the underlying density, i.e., the set of points for which the density is greater than t. A clustering algorithm which combines a density estimate with…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Surface normal holds significant importance in visual environmental perception, serving as a source of rich geometric information. However, the state-of-the-art (SoTA) surface normal estimators (SNEs) generally suffer from an unsatisfactory…

Mapping agencies are increasingly adopting Aerial Lidar Scanning (ALS) as a new tool to map buildings and other above-ground structures. Processing ALS data at scale requires efficient point classification methods that perform well over…

How can we tell complex point clouds with different small scale characteristics apart, while disregarding global features? Can we find a suitable transformation of such data in a way that allows to discriminate between differences in this…

Estimation of differential geometric quantities in discrete 3D data representations is one of the crucial steps in the geometry processing pipeline. Specifically, estimating normals and sharp feature lines from raw point cloud helps improve…

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL…

The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes…

Lidar datasets now commonly reach Billions of points and are very dense. Using these point cloud becomes challenging, as the high number of points is intractable for most applications and for visualisation.In this work we propose a new…

Though a number of point cloud learning methods have been proposed to handle unordered points, most of them are supervised and require labels for training. By contrast, unsupervised learning of point cloud data has received much less…

We propose a new method for fine registering multiple point clouds simultaneously. The approach is characterized by being dense, therefore point clouds are not reduced to pre-selected features in advance. Furthermore, the approach is robust…

Safety-critical applications like autonomous driving use Deep Neural Networks (DNNs) for object detection and segmentation. The DNNs fail to predict when they observe an Out-of-Distribution (OOD) input leading to catastrophic consequences.…

Deep learning within the context of point clouds has gained much research interest in recent years mostly due to the promising results that have been achieved on a number of challenging benchmarks, such as 3D shape recognition and scene…

Autonomous vehicles (AVs) are expected to revolutionize transportation by improving efficiency and safety. Their success relies on 3D vision systems that effectively sense the environment and detect traffic agents. Among sensors AVs use to…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

We introduce a new outdoor urban 3D pointcloud dataset, covering a total area of 2.7 $km^2$, sampled from three Swiss cities with different characteristics. The dataset is manually annotated for semantic segmentation with per-point labels,…

Unordered feature sets are a nonstandard data structure that traditional neural networks are incapable of addressing in a principled manner. Providing a concatenation of features in an arbitrary order may lead to the learning of spurious…

In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…

Clustering and outlier detection are two important tasks in data mining. Outliers frequently interfere with clustering algorithms to determine the similarity between objects, resulting in unreliable clustering results. Currently, only a few…