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Sketch-and-extrude is a common and intuitive modeling process in computer aided design. This paper studies the problem of learning the shape given in the form of point clouds by inverse sketch-and-extrude. We present ExtrudeNet, an…

Research in point cloud analysis with deep neural networks has made rapid progress in recent years. The pioneering work PointNet offered a direct analysis of point clouds. However, due to its architecture PointNet is not able to capture…

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 discriminative feature directly on point clouds is still challenging in the understanding of 3D shapes. Recent methods usually partition point clouds into local region sets, and then extract the local region features with…

We propose a neural network for 3D point cloud processing that exploits `spherical' convolution kernels and octree partitioning of space. The proposed metric-based spherical kernels systematically quantize point neighborhoods to identify…

Recent state-of-the-art methods for point cloud processing are based on the notion of point convolution, for which several approaches have been proposed. In this paper, inspired by discrete convolution in image processing, we provide a…

3D point cloud segmentation is an important function that helps robots understand the layout of their surrounding environment and perform tasks such as grasping objects, avoiding obstacles, and finding landmarks. Current segmentation…

Feature learning on point clouds has shown great promise, with the introduction of effective and generalizable deep learning frameworks such as pointnet++. Thus far, however, point features have been abstracted in an independent and…

Point cloud processing is a challenging task due to its sparsity and irregularity. Prior works introduce delicate designs on either local feature aggregator or global geometric architecture, but few combine both advantages. We propose…

In order to retain more feature information of local areas on a point cloud, local grouping and subsampling are the necessary data structuring steps in most hierarchical deep learning models. Due to the disorder nature of the points in a…

Point cloud sequences are irregular and unordered in the spatial dimension while exhibiting regularities and order in the temporal dimension. Therefore, existing grid based convolutions for conventional video processing cannot be directly…

Multi-view projection methods have demonstrated promising performance on 3D understanding tasks like 3D classification and segmentation. However, it remains unclear how to combine such multi-view methods with the widely available 3D point…

We propose a novel, conceptually simple and general framework for instance segmentation on 3D point clouds. Our method, called 3D-BoNet, follows the simple design philosophy of per-point multilayer perceptrons (MLPs). The framework directly…

Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…

Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene, resulting in a point cloud with notable 1D curve-like structures. In this work, we introduce a new point cloud processing scheme and backbone, called…

Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…

Estimating the complete 3D point cloud from an incomplete one is a key problem in many vision and robotics applications. Mainstream methods (e.g., PCN and TopNet) use Multi-layer Perceptrons (MLPs) to directly process point clouds, which…

In order to achieve better performance for point cloud analysis, many researchers apply deeper neural networks using stacked Multi-Layer-Perceptron (MLP) convolutions over irregular point cloud. However, applying dense MLP convolutions over…

Point cloud registration is to estimate a transformation to align point clouds collected in different perspectives. In learning-based point cloud registration, a robust descriptor is vital for high-accuracy registration. However, most…

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.…