Related papers: Multi-view Incremental Segmentation of 3D Point Cl…

Impressive performance on point cloud semantic segmentation has been achieved by fully-supervised methods with large amounts of labelled data. As it is labour-intensive to acquire large-scale point cloud data with point-wise labels, many…

This study analyzes semantic segmentation performance across heterogeneously labeled point-cloud datasets relevant to public safety applications, including pre-incident planning systems derived from lidar scans. Using NIST's Point Cloud…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

The autonomous car must recognize the driving environment quickly for safe driving. As the Light Detection And Range (LiDAR) sensor is widely used in the autonomous car, fast semantic segmentation of LiDAR point cloud, which is the…

3D point cloud semantic segmentation has a wide range of applications. Recently, weakly supervised point cloud segmentation methods have been proposed, aiming to alleviate the expensive and laborious manual annotation process by leveraging…

Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…

We introduce RPM-Net, a deep learning-based approach which simultaneously infers movable parts and hallucinates their motions from a single, un-segmented, and possibly partial, 3D point cloud shape. RPM-Net is a novel Recurrent Neural…

Point clouds acquired by 3D scanning devices are often sparse, noisy, and non-uniform, causing a loss of geometric features. To facilitate the usability of point clouds in downstream applications, given such input, we present a…

Semantic segmentation networks are usually pre-trained once and not updated during deployment. As a consequence, misclassifications commonly occur if the distribution of the training data deviates from the one encountered during the robot's…

We develop a novel learning scheme named Self-Prediction for 3D instance and semantic segmentation of point clouds. Distinct from most existing methods that focus on designing convolutional operators, our method designs a new learning…

Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…

3D semantic scene labeling is a fundamental task for Autonomous Driving. Recent work shows the capability of Deep Neural Networks in labeling 3D point sets provided by sensors like LiDAR, and Radar. Imbalanced distribution of classes in the…

Real-time semantic segmentation plays a significant role in industry applications, such as autonomous driving, robotics and so on. It is a challenging task as both efficiency and performance need to be considered simultaneously. To address…

Path planning is a crucial component for realizing the autonomy of mobile robots. However, due to limited computational resources on mobile robots, it remains challenging to deploy state-of-the-art methods and achieve real-time performance.…

In this paper, we propose a multi-resolution deep-learning architecture to semantically segment dense large-scale pointclouds. Dense pointcloud data require a computationally expensive feature encoding process before semantic segmentation.…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…

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…

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down…

We present a self-supervised task on point clouds, in order to learn meaningful point-wise features that encode local structure around each point. Our self-supervised network, named MortonNet, operates directly on unstructured/unordered…