Related papers: Learning Part Boundaries from 3D Point Clouds

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)…

We propose an approach to instance segmentation from 3D point clouds based on dynamic convolution. This enables it to adapt, at inference, to varying feature and object scales. Doing so avoids some pitfalls of bottom up approaches,…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

Point clouds are a popular representation for 3D shapes. However, they encode a particular sampling without accounting for shape priors or non-local information. We advocate for the use of a hierarchical Gaussian mixture model (hGMM), which…

The development of practical applications, such as autonomous driving and robotics, has brought increasing attention to 3D point cloud understanding. While deep learning has achieved remarkable success on image-based tasks, there are many…

Point cloud is a principal data structure adopted for 3D geometric information encoding. Unlike other conventional visual data, such as images and videos, these irregular points describe the complex shape features of 3D objects, which makes…

The field of autonomous driving technology is rapidly advancing, with deep learning being a key component. Particularly in the field of sensing, 3D point cloud data collected by LiDAR is utilized to run deep neural network models for 3D…

Modern 3D semantic instance segmentation approaches predominantly rely on specialized voting mechanisms followed by carefully designed geometric clustering techniques. Building on the successes of recent Transformer-based methods for object…

The deficiency of 3D segmentation labels is one of the main obstacles to effective point cloud segmentation, especially for scenes in the wild with varieties of different objects. To alleviate this issue, we propose a novel deep graph…

The promotion of construction robots can solve the problem of human resource shortage and improve the quality of decoration. To help the construction robots obtain environmental information, we need to use 3D point cloud, which is widely…

Point cloud segmentation (PCS) is to classify each point in point clouds. The task enables robots to parse their 3D surroundings and run autonomously. According to different point cloud representations, existing PCS models can be roughly…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

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…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

In this paper we propose an approach to perform semantic segmentation of 3D point cloud data by importing the geographic information from a 2D GIS layer (OpenStreetMap). The proposed automatic procedure identifies meaningful units such as…

Adapting deep learning networks for point cloud data recognition in self-driving vehicles faces challenges due to the variability in datasets and sensor technologies, emphasizing the need for adaptive techniques to maintain accuracy across…

A laser scanner can easily acquire the geometric data of physical environments in the form of a point cloud. Recognizing objects from a point cloud is often required for industrial 3D reconstruction, which should include not only geometry…

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.…

Both humans and deep learning models can recognize objects from 3D shapes depicted with sparse visual information, such as a set of points randomly sampled from the surfaces of 3D objects (termed a point cloud). Although deep learning…

Visual data in autonomous driving perception, such as camera image and LiDAR point cloud, can be interpreted as a mixture of two aspects: semantic feature and geometric structure. Semantics come from the appearance and context of objects to…