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Recent advances in deep learning for 3D point clouds have shown great promises in scene understanding tasks thanks to the introduction of convolution operators to consume 3D point clouds directly in a neural network. Point cloud data,…

Learning and selecting important points on a point cloud is crucial for point cloud understanding in various applications. Most of early methods selected the important points on 3D shapes by analyzing the intrinsic geometric properties of…

Successful point cloud registration relies on accurate correspondences established upon powerful descriptors. However, existing neural descriptors either leverage a rotation-variant backbone whose performance declines under large rotations,…

3D point cloud analysis has drawn a lot of research attention due to its wide applications. However, collecting massive labelled 3D point cloud data is both time-consuming and labor-intensive. This calls for data-efficient learning methods.…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

Feature learning for 3D object detection from point clouds is very challenging due to the irregularity of 3D point cloud data. In this paper, we propose Pointformer, a Transformer backbone designed for 3D point clouds to learn features…

We present a new method for the unsupervised detection of geometric anomalies in high-resolution 3D point clouds. In particular, we propose an adaptation of the established student-teacher anomaly detection framework to three dimensions. A…

In the absence of global positioning information, place recognition is a key capability for enabling localization, mapping and navigation in any environment. Most place recognition methods rely on images, point clouds, or a combination of…

We present an approach to learning features that represent the local geometry around a point in an unstructured point cloud. Such features play a central role in geometric registration, which supports diverse applications in robotics and 3D…

3D point cloud classification requires distinct models from 2D image classification due to the divergent characteristics of the respective input data. While 3D point clouds are unstructured and sparse, 2D images are structured and dense.…

When classifying point clouds, a large amount of time is devoted to the process of engineering a reliable set of features which are then passed to a classifier of choice. Generally, such features - usually derived from the 3D-covariance…

Point cloud is an important type of geometric data structure. Due to its irregular format, most researchers transform such data to regular 3D voxel grids or collections of images. This, however, renders data unnecessarily voluminous and…

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.…

This paper investigates the 3D domain generalization (3DDG) ability of large 3D models based on prevalent prompt learning. Recent works demonstrate the performances of 3D point cloud recognition can be boosted remarkably by…

We propose a novel concept to directly match feature descriptors extracted from RGB images, with feature descriptors extracted from 3D point clouds. We use this concept to localize the position and orientation (pose) of the camera of a…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

In the field of large-scale SLAM for autonomous driving and mobile robotics, 3D point cloud based place recognition has aroused significant research interest due to its robustness to changing environments with drastic daytime and weather…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

As a fundamental task for indoor scene understanding, 3D object detection has been extensively studied, and the accuracy on indoor point cloud data has been substantially improved. However, existing researches have been conducted on limited…

Object classification using LiDAR 3D point cloud data is critical for modern applications such as autonomous driving. However, labeling point cloud data is labor-intensive as it requires human annotators to visualize and inspect the 3D data…