Related papers: PointConv: Deep Convolutional Networks on 3D Point…
We propose a deep autoencoder with graph topology inference and filtering to achieve compact representations of unorganized 3D point clouds in an unsupervised manner. Many previous works discretize 3D points to voxels and then use…
3D vision with real-time LiDAR-based point cloud data became a vital part of autonomous system research, especially perception and prediction modules use for object classification, segmentation, and detection. Despite their success, point…
In this paper, we propose an effective point cloud generation method, which can generate multi-resolution point clouds of the same shape from a latent vector. Specifically, we develop a novel progressive deconvolution network with the…
Large-scale point cloud consists of a multitude of individual objects, thereby encompassing rich structural and underlying semantic contextual information, resulting in a challenging problem in efficiently segmenting a point cloud. Most…
In computer vision, 2D convolution is arguably the most important operation performed by a ConvNet. Unsurprisingly, it has been the focus of intense software and hardware optimization and enjoys highly efficient implementations. In this…
With the rapid development of measurement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning…
We propose an octree guided neural network architecture and spherical convolutional kernel for machine learning from arbitrary 3D point clouds. The network architecture capitalizes on the sparse nature of irregular point clouds, and…
In this paper, we propose a set of transform-based neural network layers as an alternative to the $3\times3$ Conv2D layers in Convolutional Neural Networks (CNNs). The proposed layers can be implemented based on orthogonal transforms such…
Recent deep networks that directly handle points in a point set, e.g., PointNet, have been state-of-the-art for supervised learning tasks on point clouds such as classification and segmentation. In this work, a novel end-to-end deep…
Learning a single static convolutional kernel in each convolutional layer is the common training paradigm of modern Convolutional Neural Networks (CNNs). Instead, recent research in dynamic convolution shows that learning a linear…
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…
Learning-based 3D reconstruction using implicit neural representations has shown promising progress not only at the object level but also in more complicated scenes. In this paper, we propose Dynamic Plane Convolutional Occupancy Networks,…
In this paper, we propose a novel variable rate deep compression architecture that operates on raw 3D point cloud data. The majority of learning-based point cloud compression methods work on a downsampled representation of the data.…
We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…
With the rapid development of 3D vision, point cloud has become an increasingly popular 3D visual media content. Due to the irregular structure, point cloud has posed novel challenges to the related research, such as compression,…
Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…
Intrinsic graph convolution operators with differentiable kernel functions play a crucial role in analyzing 3D shape meshes. In this paper, we present a fast and efficient intrinsic mesh convolution operator that does not rely on the…
Fusion of 2D images and 3D point clouds is important because information from dense images can enhance sparse point clouds. However, fusion is challenging because 2D and 3D data live in different spaces. In this work, we propose MVPNet…
Recently, deep neural networks have made remarkable achievements in 3D point cloud classification. However, existing classification methods are mainly implemented on idealized point clouds and suffer heavy degradation of per-formance on…
We present a novel algorithm for point cloud segmentation. Our approach transforms unstructured point clouds into regular voxel grids, and further uses a kernel-based interpolated variational autoencoder (VAE) architecture to encode the…