Related papers: SPLATNet: Sparse Lattice Networks for Point Cloud …
Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…
Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…
We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…
We present multiresolution tree-structured networks to process point clouds for 3D shape understanding and generation tasks. Our network represents a 3D shape as a set of locality-preserving 1D ordered list of points at multiple…
Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…
Point clouds obtained from 3D sensors are usually sparse. Existing methods mainly focus on upsampling sparse point clouds in a supervised manner by using dense ground truth point clouds. In this paper, we propose a self-supervised point…
Point cloud analysis (such as 3D segmentation and detection) is a challenging task, because of not only the irregular geometries of many millions of unordered points, but also the great variations caused by depth, viewpoint, occlusion, etc.…
Point cloud compression (PCC) is a key enabler for various 3-D applications, owing to the universality of the point cloud format. Ideally, 3D point clouds endeavor to depict object/scene surfaces that are continuous. Practically, as a set…
We present a novel deep neural network architecture for end-to-end scene flow estimation that directly operates on large-scale 3D point clouds. Inspired by Bilateral Convolutional Layers (BCL), we propose novel DownBCL, UpBCL, and CorrBCL…
In contrast to the literature where local patterns in 3D point clouds are captured by customized convolutional operators, in this paper we study the problem of how to effectively and efficiently project such point clouds into a 2D image…
This study introduces a method for efficiently detecting objects within 3D point clouds using convolutional neural networks (CNNs). Our approach adopts a unique feature-centric voting mechanism to construct convolutional layers that…
We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…
Convolutional network are the de-facto standard for analysing spatio-temporal data such as images, videos, 3D shapes, etc. Whilst some of this data is naturally dense (for instance, photos), many other data sources are inherently sparse.…
Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…
In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…
Point clouds are an efficient data format for 3D data. However, existing 3D segmentation methods for point clouds either do not model local dependencies \cite{pointnet} or require added computations \cite{kd-net,pointnet2}. This work…
We explore a key architectural aspect of deep convolutional neural networks: the pattern of internal skip connections used to aggregate outputs of earlier layers for consumption by deeper layers. Such aggregation is critical to facilitate…
This paper presents MinkUNeXt, an effective and efficient architecture for place-recognition from point clouds entirely based on the new 3D MinkNeXt Block, a residual block composed of 3D sparse convolutions that follows the philosophy…
We present OctNet, a representation for deep learning with sparse 3D data. In contrast to existing models, our representation enables 3D convolutional networks which are both deep and high resolution. Towards this goal, we exploit the…
Existing learning-based surface reconstruction methods from point clouds are still facing challenges in terms of scalability and preservation of details on large-scale point clouds. In this paper, we propose the SSRNet, a novel scalable…