Related papers: Point-cloud-based place recognition using CNN feat…

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…

This paper presents Point Convolutional Neural Networks (PCNN): a novel framework for applying convolutional neural networks to point clouds. The framework consists of two operators: extension and restriction, mapping point cloud functions…

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 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…

The paper presents a learning-based method for computing a discriminative 3D point cloud descriptor for place recognition purposes. Existing methods, such as PointNetVLAD, are based on unordered point cloud representation. They use PointNet…

Deep learning with 3D data such as reconstructed point clouds and CAD models has received great research interests recently. However, the capability of using point clouds with convolutional neural network has been so far not fully explored.…

We present a new point-based approach for modeling the appearance of real scenes. The approach uses a raw point cloud as the geometric representation of a scene, and augments each point with a learnable neural descriptor that encodes local…

Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…

Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

Place recognition is one of the most fundamental topics in computer vision and robotics communities, where the task is to accurately and efficiently recognize the location of a given query image. Despite years of wisdom accumulated in this…

Point cloud filtering is a fundamental problem in geometry modeling and processing. Despite of significant advancement in recent years, the existing methods still suffer from two issues: 1) they are either designed without preserving sharp…

Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is…

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…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

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)…

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or…

In this paper, we propose PCPNet, a deep-learning based approach for estimating local 3D shape properties in point clouds. In contrast to the majority of prior techniques that concentrate on global or mid-level attributes, e.g., for shape…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…