Related papers: SGPN: Similarity Group Proposal Network for 3D Poi…
Multi-class 3D object detection aims to localize and classify objects of multiple categories from point clouds. Due to the nature of point clouds, i.e. unstructured, sparse and noisy, some features benefit-ting multi-class discrimination…
Instance segmentation is an important task for scene understanding. Compared to the fully-developed 2D, 3D instance segmentation for point clouds have much room to improve. In this paper, we present PointGroup, a new end-to-end bottom-up…
In this paper, we propose a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…
Recognizing 3D part instances from a 3D point cloud is crucial for 3D structure and scene understanding. Several learning-based approaches use semantic segmentation and instance center prediction as training tasks and fail to further…
We develop a novel learning scheme named Self-Prediction for 3D instance and semantic segmentation of point clouds. Distinct from most existing methods that focus on designing convolutional operators, our method designs a new learning…
This paper introduces Point-GN, a novel non-parametric network for efficient and accurate 3D point cloud classification. Unlike conventional deep learning models that rely on a large number of trainable parameters, Point-GN leverages…
The analysis of 3D point clouds has diverse applications in robotics, vision and graphics. Processing them presents specific challenges since they are naturally sparse, can vary in spatial resolution and are typically unordered. Graph-based…
This paper considers a network referred to as SoftGroup for accurate and scalable 3D instance segmentation. Existing state-of-the-art methods produce hard semantic predictions followed by grouping instance segmentation results.…
Current point cloud registration methods are mainly based on local geometric information and usually ignore the semantic information contained in the scenes. In this paper, we treat the point cloud registration problem as a semantic…
Following considerable development in 3D scanning technologies, many studies have recently been proposed with various approaches for 3D vision tasks, including some methods that utilize 2D convolutional neural networks (CNNs). However, even…
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…
We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…
This paper introduces a novel approach for 3D semantic instance segmentation on point clouds. A 3D convolutional neural network called submanifold sparse convolutional network is used to generate semantic predictions and instance embeddings…
Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…
Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…
Current 3D object detection methods for indoor scenes mainly follow the voting-and-grouping strategy to generate proposals. However, most methods utilize instance-agnostic groupings, such as ball query, leading to inconsistent semantic…
Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…
Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…
Point clouds data, as one kind of representation of 3D objects, are the most primitive output obtained by 3D sensors. Unlike 2D images, point clouds are disordered and unstructured. Hence it is not straightforward to apply classification…
We propose a novel scene flow estimation approach to capture and infer 3D motions from point clouds. Estimating 3D motions for point clouds is challenging, since a point cloud is unordered and its density is significantly non-uniform. Such…