Related papers: Model-Centric Volumetric Point Cloud Attributes

Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…

Point cloud 3D object detection has recently received major attention and becomes an active research topic in 3D computer vision community. However, recognizing 3D objects in LiDAR (Light Detection and Ranging) is still a challenge due to…

Semantic segmentation is an important and well-known task in the field of computer vision, in which we attempt to assign a corresponding semantic class to each input element. When it comes to semantic segmentation of 2D images, the input…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

The goal of this paper is to compare surface-based and volumetric 3D object shape representations, as well as viewer-centered and object-centered reference frames for single-view 3D shape prediction. We propose a new algorithm for…

Convolutional Neural Networks (CNNs) have emerged as a powerful strategy for most object detection tasks on 2D images. However, their power has not been fully realised for detecting 3D objects in point clouds directly without converting…

Point clouds are rich geometric data structures, where their three dimensional structure offers an excellent domain for understanding the representation learning and generative modeling in 3D space. In this work, we aim to improve the…

Object detection in three-dimensional (3D) space attracts much interest from academia and industry since it is an essential task in AI-driven applications such as robotics, autonomous driving, and augmented reality. As the basic format of…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

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…

This paper proposes a novel point-cloud-based place recognition system that adopts a deep learning approach for feature extraction. By using a convolutional neural network pre-trained on color images to extract features from a range image…

RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…

As the basic task of point cloud analysis, classification is fundamental but always challenging. To address some unsolved problems of existing methods, we propose a network that captures geometric features of point clouds for better…

Recently, point clouds have shown to be a promising way to represent 3D visual data for a wide range of immersive applications, from augmented reality to autonomous cars. Emerging imaging sensors have made easier to perform richer and…

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 clouds are the native output of many real-world 3D sensors. To borrow the success of 2D convolutional network architectures, a majority of popular 3D perception models voxelize the points, which can result in a loss of local geometric…

Point clouds, a prominent method of 3D representation, are extensively utilized across industries such as autonomous driving, surveying, electricity, architecture, and gaming, and have been rigorously investigated for their accuracy and…

We propose a novel approach to self-supervised learning of point cloud representations by differentiable neural rendering. Motivated by the fact that informative point cloud features should be able to encode rich geometry and appearance…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

The goal of object pose estimation is to visually determine the pose of a specific object in the RGB-D input. Unfortunately, when faced with new categories, both instance-based and category-based methods are unable to deal with unseen…