Related papers: Know What Your Neighbors Do: 3D Semantic Segmentat…

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.…

Accurately describing and detecting 2D and 3D keypoints is crucial to establishing correspondences across images and point clouds. Despite a plethora of learning-based 2D or 3D local feature descriptors and detectors having been proposed,…

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.…

We study the problem of efficient semantic segmentation for large-scale 3D point clouds. By relying on expensive sampling techniques or computationally heavy pre/post-processing steps, most existing approaches are only able to be trained…

Point cloud data now are popular data representations in a number of three-dimensional (3D) vision research realms. However, due to the limited performance of sensors and sensing noise, the raw data usually suffer from sparsity, noise, and…

We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…

In recent years, the challenge of 3D shape analysis within point cloud data has gathered significant attention in computer vision. Addressing the complexities of effective 3D information representation and meaningful feature extraction for…

Semantic scene understanding from point clouds is particularly challenging as the points reflect only a sparse set of the underlying 3D geometry. Previous works often convert point cloud into regular grids (e.g. voxels or bird-eye view…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Point cloud based place recognition is still an open issue due to the difficulty in extracting local features from the raw 3D point cloud and generating the global descriptor, and it's even harder in the large-scale dynamic environments. In…

In recent years, with the development of computing resources and LiDAR, point cloud semantic segmentation has attracted many researchers. For the sparsity of point clouds, although there is already a way to deal with sparse convolution,…

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…

Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

Learning new representations of 3D point clouds is an active research area in 3D vision, as the order-invariant point cloud structure still presents challenges to the design of neural network architectures. Recent works explored learning…

Comprehensive scene understanding is a critical enabler of robot autonomy. Semantic segmentation is one of the key scene understanding tasks which is pivotal for several robotics applications including autonomous driving, domestic service…

Urban environments are characterized by complex structures and diverse features, making accurate segmentation of point cloud data a challenging task. This paper presents a comprehensive study on the application of RandLA-Net, a…

Panoptic segmentation is the combination of semantic and instance segmentation: assign the points in a 3D point cloud to semantic categories and partition them into distinct object instances. It has many obvious applications for outdoor…

The analyses relying on 3D point clouds are an utterly complex task, often involving million of points, but also requiring computationally efficient algorithms because of many real-time applications; e.g. autonomous vehicle. However, point…