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PointNet has recently emerged as a popular representation for unstructured point cloud data, allowing application of deep learning to tasks such as object detection, segmentation and shape completion. However, recent works in literature…

We introduce an end-to-end learnable technique to robustly identify feature edges in 3D point cloud data. We represent these edges as a collection of parametric curves (i.e.,lines, circles, and B-splines). Accordingly, our deep neural…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Real-world point clouds usually suffer from incompleteness and display different poses. While current point cloud completion methods excel in reproducing complete point clouds with consistent poses as seen in the training set, their…

In 2D image processing, some attempts decompose images into high and low frequency components for describing edge and smooth parts respectively. Similarly, the contour and flat area of 3D objects, such as the boundary and seat area of a…

This paper introduces HPNet, a novel deep-learning approach for segmenting a 3D shape represented as a point cloud into primitive patches. The key to deep primitive segmentation is learning a feature representation that can separate points…

A promising direction for pre-training 3D point clouds is to leverage the massive amount of data in 2D, whereas the domain gap between 2D and 3D creates a fundamental challenge. This paper proposes a novel approach to point-cloud…

As a fundamental problem in computer vision, point cloud registration aims to seek the optimal transformation for aligning a pair of point clouds. In most existing methods, the information flows are usually forward transferring, thus…

LIDAR semantic segmentation, which assigns a semantic label to each 3D point measured by the LIDAR, is becoming an essential task for many robotic applications such as autonomous driving. Fast and efficient semantic segmentation methods are…

3D object recognition has attracted wide research attention in the field of multimedia and computer vision. With the recent proliferation of deep learning, various deep models with different representations have achieved the…

In order to retain more feature information of local areas on a point cloud, local grouping and subsampling are the necessary data structuring steps in most hierarchical deep learning models. Due to the disorder nature of the points in a…

The irregularity and permutation invariance of point cloud data pose challenges for effective learning. Conventional methods for addressing this issue involve converting raw point clouds to intermediate representations such as 3D voxel…

4D radar super-resolution, which aims to reconstruct sparse and noisy point clouds into dense and geometrically consistent representations, is a foundational problem in autonomous perception. However, existing methods often suffer from high…

Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

In image denoising, deep convolutional neural networks (CNNs) can obtain favorable performance on removing spatially invariant noise. However, many of these networks cannot perform well on removing the real noise (i.e. spatially variant…

Learning and analyzing 3D point clouds with deep networks is challenging due to the sparseness and irregularity of the data. In this paper, we present a data-driven point cloud upsampling technique. The key idea is to learn multi-level…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Point cloud analysis is an area of increasing interest due to the development of 3D sensors that are able to rapidly measure the depth of scenes accurately. Unfortunately, applying deep learning techniques to perform point cloud analysis is…

Point clouds have become increasingly vital across various applications thanks to their ability to realistically depict 3D objects and scenes. Nevertheless, effectively compressing unstructured, high-precision point cloud data remains a…