Related papers: From a Point Cloud to a Simulation Model: Bayesian…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

The development of 2D foundation models for image segmentation has been significantly advanced by the Segment Anything Model (SAM). However, achieving similar success in 3D models remains a challenge due to issues such as non-unified data…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

Extracting high-level structural information from 3D point clouds is challenging but essential for tasks like urban planning or autonomous driving requiring an advanced understanding of the scene at hand. Existing approaches are still not…

Robotic branch pruning is a significantly growing research area to cope with the shortage of labor force in the context of agriculture. One fundamental requirement in robotic pruning is the perception of detailed geometry and topology of…

3D point cloud semantic segmentation is a challenging topic in the computer vision field. Most of the existing methods in literature require a large amount of fully labeled training data, but it is extremely time-consuming to obtain these…

Spectral clustering views the similarity matrix as a weighted graph, and partitions the data by minimizing a graph-cut loss. Since it minimizes the across-cluster similarity, there is no need to model the distribution within each cluster.…

Mobile robots need to create high-definition 3D maps of the environment for applications such as remote surveillance and infrastructure mapping. Accurate semantic processing of the acquired 3D point cloud is critical for allowing the robot…

Deep learning approaches have made tremendous progress in the field of semantic segmentation over the past few years. However, most current approaches operate in the 2D image space. Direct semantic segmentation of unstructured 3D point…

Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…

Anomaly detection based on 3D point cloud data is an important research problem and receives more and more attention recently. Untrained anomaly detection based on only one sample is an emerging research problem motivated by real…

Recently, large-scale pre-trained models such as Segment-Anything Model (SAM) and Contrastive Language-Image Pre-training (CLIP) have demonstrated remarkable success and revolutionized the field of computer vision. These foundation vision…

Deep learning techniques have become the to-go models for most vision-related tasks on 2D images. However, their power has not been fully realised on several tasks in 3D space, e.g., 3D scene understanding. In this work, we jointly address…

Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes…

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…

Existing networks directly learn feature representations on 3D point clouds for shape analysis. We argue that 3D point clouds are highly redundant and hold irregular (permutation-invariant) structure, which makes it difficult to achieve…

A 3D point cloud is an unstructured, sparse, and irregular dataset, typically collected by airborne LiDAR systems over a geological region. Laser pulses emitted from these systems reflect off objects both on and above the ground, resulting…

Reliable quantification of uncertainty in Mobile Laser Scanning (MLS) point clouds is essential for ensuring the accuracy and credibility of downstream applications such as 3D mapping, modeling, and change analysis. Traditional backward…

In this paper, by modeling the point cloud registration task as a Markov decision process, we propose an end-to-end deep model embedded with the cross-entropy method (CEM) for unsupervised 3D registration. Our model consists of a sampling…

We present Bayesian Diffusion Models (BDM), a prediction algorithm that performs effective Bayesian inference by tightly coupling the top-down (prior) information with the bottom-up (data-driven) procedure via joint diffusion processes. We…