Related papers: Edge and Corner Detection for Unorganized 3D Point…

In this paper, we propose a novel edge and corner detection algorithm for an unorganized point cloud. Our edge detection method classifies a query point as an edge point by evaluating the distribution of local neighboring points around the…

This paper presents a very simple but efficient algorithm for 3D line segment detection from large scale unorganized point cloud. Unlike traditional methods which usually extract 3D edge points first and then link them to fit for 3D line…

This paper presents a point cloud based robotic system for arc welding. Using hand gesture controls, the system scans partial point cloud views of workpiece and reconstructs them into a complete 3D model by a linear iterative closest point…

Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in industrial practice. Previous works mostly focused on…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

In this paper, in order to pursue high-efficiency robotic arc welding tasks, we propose a method based on point cloud acquired by an RGB-D sensor. The method consists of two parts: welding groove detection and 3D welding trajectory…

Edge points on 3D point clouds can clearly convey 3D geometry and surface characteristics, therefore, edge detection is widely used in many vision applications with high industrial and commercial demands. However, the fine-grained edge…

This paper proposes an innovative approach to Hierarchical Edge Aware 3D Point Cloud Learning (HEA-Net) that seeks to address the challenges of noise in point cloud data, and improve object recognition and segmentation by focusing on edge…

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…

We present a method that detects boundaries of parts in 3D shapes represented as point clouds. Our method is based on a graph convolutional network architecture that outputs a probability for a point to lie in an area that separates two or…

Plane detection in 3D point clouds is a crucial pre-processing step for applications such as point cloud segmentation, semantic mapping and SLAM. In contrast to many recent plane detection methods that are only applicable on organized point…

We introduce an end-to-end learnable technique to robustly identify feature edges in 3D point cloud data. We represent these edges as a collection of parametric curves (i.e.,lines, circles, and B-splines). Accordingly, our deep neural…

Extracting geometric edges from unstructured point clouds remains a significant challenge, particularly in thin-walled structures that are commonly found in everyday objects. Traditional geometric methods and recent learning-based…

Reconstructing 3D point clouds into triangle meshes is a key problem in computational geometry and surface reconstruction. Point cloud triangulation solves this problem by providing edge information to the input points. Since no vertex…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Learning point clouds is challenging due to the lack of connectivity information, i.e., edges. Although existing edge-aware methods can improve the performance by modeling edges, how edges contribute to the improvement is unclear. In this…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…

We present PI3DETR, an end-to-end framework that directly predicts 3D parametric curve instances from raw point clouds, avoiding the intermediate representations and multi-stage processing common in prior work. Extending 3DETR, our model…