Related papers: Graph Based Over-Segmentation Methods for 3D Point…
We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…
Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Using a low-cost 3D scanner to acquire data means that point clouds are often in lower resolution than desired for rendering on…
We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…
Perception of traversable regions and objects of interest from a 3D point cloud is one of the critical tasks in autonomous navigation. A ground vehicle needs to look for traversable terrains that are explorable by wheels. Then, to make safe…
3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…
3D point cloud segmentation aims to assign semantic labels to individual points in a scene for fine-grained spatial understanding. Existing methods typically adopt data augmentation to alleviate the burden of large-scale annotation.…
Feature learning on point clouds has shown great promise, with the introduction of effective and generalizable deep learning frameworks such as pointnet++. Thus far, however, point features have been abstracted in an independent and…
This paper addresses the challenge of 3D instance segmentation by simultaneously leveraging 3D geometric and multi-view image information. Many previous works have applied deep learning techniques to 3D point clouds for instance…
We propose simple yet effective improvements in point representations and local neighborhood graph construction within the general framework of graph neural networks (GNNs) for 3D point cloud processing. As a first contribution, we propose…
We introduce a highly efficient method for panoptic segmentation of large 3D point clouds by redefining this task as a scalable graph clustering problem. This approach can be trained using only local auxiliary tasks, thereby eliminating the…
Hypergraph spectral analysis has emerged as an effective tool processing complex data structures in data analysis. The surface of a three-dimensional (3D) point cloud and the multilateral relationship among their points can be naturally…
Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…
3D Point clouds (PCs) are commonly used to represent 3D scenes. They can have millions of points, making subsequent downstream tasks such as compression and streaming computationally expensive. PC sampling (selecting a subset of points) can…
Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or…
The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…
Point cloud segmentation is the foundation of 3D environmental perception for modern intelligent systems. To solve this problem and image segmentation, conditional random fields (CRFs) are usually formulated as discrete models in label…
To enhance the ability of neural networks to extract local point cloud features and improve their quality, in this paper, we propose a multiscale graph generation method and a self-adaptive graph convolution method. First, we propose a…
Convolutional Neural Networks (CNNs) have performed extremely well on data represented by regularly arranged grids such as images. However, directly leveraging the classic convolution kernels or parameter sharing mechanisms on sparse 3D…
Supervised 3D part segmentation models are tailored for a fixed set of objects and parts, limiting their transferability to open-set, real-world scenarios. Recent works have explored vision-language models (VLMs) as a promising alternative,…
The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…