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With the help of the deep learning paradigm, many point cloud networks have been invented for visual analysis. However, there is great potential for development of these networks since the given information of point cloud data has not been…

This paper presents DeepI2P: a novel approach for cross-modality registration between an image and a point cloud. Given an image (e.g. from a rgb-camera) and a general point cloud (e.g. from a 3D Lidar scanner) captured at different…

Multi-instance point cloud registration aims to estimate the pose of all instances of a model point cloud in the whole scene. Existing methods all adopt the strategy of first obtaining the global correspondence and then clustering to obtain…

The field of 3D object detection from point clouds is rapidly advancing in computer vision, aiming to accurately and efficiently detect and localize objects in three-dimensional space. Current 3D detectors commonly fall short in terms of…

3D model generation from single 2D RGB images is a challenging and actively researched computer vision task. Various techniques using conventional network architectures have been proposed for the same. However, the body of research work is…

Deep neural networks have revolutionized 3D point cloud processing, yet efficiently handling large and irregular point clouds remains challenging. To tackle this problem, we introduce FastPoint, a novel software-based acceleration technique…

Instance segmentation on point clouds is crucially important for 3D scene understanding. Most SOTAs adopt distance clustering, which is typically effective but does not perform well in segmenting adjacent objects with the same semantic…

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.…

In this paper we present our research on the optimisation of a deep neural network for 3D object detection in a point cloud. Techniques like quantisation and pruning available in the Brevitas and PyTorch tools were used. We performed the…

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…

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 a graph neural network to detect objects from a LiDAR point cloud. Towards this end, we encode the point cloud efficiently in a fixed radius near-neighbors graph. We design a graph neural network, named Point-GNN,…

Detecting objects from LiDAR point clouds is an important component of self-driving car technology as LiDAR provides high resolution spatial information. Previous work on point-cloud 3D object detection has re-purposed convolutional…

2D fully convolutional network has been recently successfully applied to object detection from images. In this paper, we extend the fully convolutional network based detection techniques to 3D and apply it to point cloud data. The proposed…

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.…

3D single object tracking plays an essential role in many applications, such as autonomous driving. It remains a challenging problem due to the large appearance variation and the sparsity of points caused by occlusion and limited sensor…

We tackle the problem of 3D point cloud localization based on a few natural linguistic descriptions and introduce a novel neural network, Text2Loc, that fully interprets the semantic relationship between points and text. Text2Loc follows a…

The universality of the point cloud format enables many 3D applications, making the compression of point clouds a critical phase in practice. Sampled as discrete 3D points, a point cloud approximates 2D surface(s) embedded in 3D with a…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

In this work, we address the problem of 3D object detection from point cloud data in real time. For autonomous vehicles to work, it is very important for the perception component to detect the real world objects with both high accuracy and…