Related papers: Learning geometry-image representation for 3D poin…
We propose a new supervized learning framework for oversegmenting 3D point clouds into superpoints. We cast this problem as learning deep embeddings of the local geometry and radiometry of 3D points, such that the border of objects presents…
Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations…
We propose a novel deep learning-based framework to tackle the challenge of semantic segmentation of large-scale point clouds of millions of points. We argue that the organization of 3D point clouds can be efficiently captured by a…
We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…
We propose a new representation for encoding 3D shapes as neural fields. The representation is designed to be compatible with the transformer architecture and to benefit both shape reconstruction and shape generation. Existing works on…
Noisy 3D point clouds arise in many applications. They may be due to errors when constructing a 3D model from images or simply to imprecise depth sensors. Point clouds can be given geometrical structure using graphs created from the…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
3D point cloud has been widely used in applications such as self-driving cars, robotics, CAD models, etc. To the best of our knowledge, these applications raised the issue of privacy leakage in 3D point clouds, which has not been studied…
This paper proposes a new approach to detecting grasp points on novel objects presented in clutter. The input to our algorithm is a point cloud and the geometric parameters of the robot hand. The output is a set of hand configurations that…
Many generative models attempt to replicate the density of their input data. However, this approach is often undesirable, since data density is highly affected by sampling biases, noise, and artifacts. We propose a method called SUGAR…
3D single object tracking remains a challenging problem due to the sparsity and incompleteness of the point clouds. Existing algorithms attempt to address the challenges in two strategies. The first strategy is to learn dense geometric…
In the field of computer vision, unsupervised learning for 2D object generation has advanced rapidly in the past few years. However, 3D object generation has not garnered the same attention or success as its predecessor. To facilitate novel…
In this paper, we investigate the combination of voxel-based methods and point-based methods, and propose a novel end-to-end two-stage 3D object detector named SGNet for point clouds scenes. The voxel-based methods voxelize the scene to…
In this letter, we introduce several algorithms for geometry inpainting of 3D point clouds with large holes. The algorithms are examplar-based: hole filling is performed iteratively using templates near the hole boundary to find the best…
We examined the feasibility of generative adversarial networks (GANs) to generate photo-realistic images from LiDAR point clouds. For this purpose, we created a dataset of point cloud image pairs and trained the GAN to predict…
3D scene reconstruction is fundamental for spatial intelligence applications such as AR, robotics, and digital twins. Traditional multi-view stereo struggles with sparse viewpoints or low-texture regions, while neural rendering approaches,…
Point cloud salient object detection has attracted the attention of researchers in recent years. Since existing works do not fully utilize the geometry context of 3D objects, blurry boundaries are generated when segmenting objects with…
Learning 3D representations that generalize well to arbitrarily oriented inputs is a challenge of practical importance in applications varying from computer vision to physics and chemistry. We propose a novel multi-resolution convolutional…
We introduce GeoGS3D, a novel two-stage framework for reconstructing detailed 3D objects from single-view images. Inspired by the success of pre-trained 2D diffusion models, our method incorporates an orthogonal plane decomposition…
3D Gaussian Splatting (3DGS) enables photorealistic rendering but suffers from artefacts due to sparse Structure-from-Motion (SfM) initialisation. To address this limitation, we propose GP-GS, a Gaussian Process (GP) based densification…