Related papers: Generating Large Convex Polytopes Directly on Poin…

3D modeling based on point clouds is an efficient way to reconstruct and create detailed 3D content. However, the geometric procedure may lose accuracy due to high redundancy and the absence of an explicit structure. In this work, we…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

We propose a method for constructing high-quality, closed-surface meshes from confined 3D point clouds via a physically-based simulation of flexible foils under spatial constraints. The approach integrates dynamic elasticity,…

We propose two novel algorithms for constructing convex collision-free polytopes in robot configuration space. Finding these polytopes enables the application of stronger motion-planning frameworks such as trajectory optimization with…

Previous top-performing approaches for point cloud instance segmentation involve a bottom-up strategy, which often includes inefficient operations or complex pipelines, such as grouping over-segmented components, introducing additional…

Understanding point cloud has recently gained huge interests following the development of 3D scanning devices and the accumulation of large-scale 3D data. Most point cloud processing algorithms can be classified as either point-based or…

The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be both kinematically feasible (i.e., collision free) and…

This paper tackles the problem of parts-aware point cloud generation. Unlike existing works which require the point cloud to be segmented into parts a priori, our parts-aware editing and generation are performed in an unsupervised manner.…

Flat surfaces captured by 3D point clouds are often used for localization, mapping, and modeling. Dense point cloud processing has high computation and memory costs making low-dimensional representations of flat surfaces such as polygons…

Configuration space (C-space) has played a central role in collision-free motion planning, particularly for robot manipulators. While it is possible to check for collisions at a point using standard algorithms, to date no practical method…

We expand the basic geometric elements of the simplex method to linear programs in locally convex topological vector spaces and provide conditions under which the method converges in value to optimality. This setting generalizes many…

Generative models have proven effective at modeling 3D shapes and their statistical variations. In this paper we investigate their application to point clouds, a 3D shape representation widely used in computer vision for which, however,…

We present a novel lightweight convolutional neural network for point cloud analysis. In contrast to many current CNNs which increase receptive field by downsampling point cloud, our method directly operates on the entire point sets without…

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of…

Key points, correspondences, projection matrices, point clouds and dense clouds are the skeletons in image-based 3D reconstruction, of which point clouds have the important role in generating a realistic and natural model for a 3D…

With the increased availability of 3D scanning technology, point clouds are moving into the focus of computer vision as a rich representation of everyday scenes. However, they are hard to handle for machine learning algorithms due to their…

We examine volume computation of general-dimensional polytopes and more general convex bodies, defined as the intersection of a simplex by a family of parallel hyperplanes, and another family of parallel hyperplanes or a family of…

In this paper the argument is made that for true novel view synthesis of objects, where the object can be synthesized from any viewpoint, an explicit 3D shape representation isdesired. Our method estimates point clouds to capture the…

In this paper, we introduce FastPoints, a state-of-the-art point cloud renderer for the Unity game development platform. Our program supports standard unprocessed point cloud formats with non-programmatic, drag-and-drop support, and creates…

3D point cloud registration is a fundamental problem in computer vision and robotics. There has been extensive research in this area, but existing methods meet great challenges in situations with a large proportion of outliers and time…