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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…

Mapping and 3D detection are two major issues in vision-based robotics, and self-driving. While previous works only focus on each task separately, we present an innovative and efficient multi-task deep learning framework (SM3D) for…

Object detection through either RGB images or the LiDAR point clouds has been extensively explored in autonomous driving. However, it remains challenging to make these two data sources complementary and beneficial to each other. In this…

3D point cloud segmentation remains challenging for structureless and textureless regions. We present a new unified point-based framework for 3D point cloud segmentation that effectively optimizes pixel-level features, geometrical…

We address the problems of measuring geometric similarity between 3D scenes, represented through point clouds or range data frames, and associating them. Our approach leverages macro-scale 3D structural geometry - the relative configuration…

In this paper, we present DV-Matcher, a novel learning-based framework for estimating dense correspondences between non-rigidly deformable point clouds. Learning directly from unstructured point clouds without meshing or manual labelling,…

3D scanning is a complex multistage process that generates a point cloud of an object typically containing damaged parts due to occlusions, reflections, shadows, scanner motion, specific properties of the object surface, imperfect…

We propose DeepMapping, a novel registration framework using deep neural networks (DNNs) as auxiliary functions to align multiple point clouds from scratch to a globally consistent frame. We use DNNs to model the highly non-convex mapping…

Most learning methods for 3D data (point clouds, meshes) suffer significant performance drops when the data is not carefully aligned to a canonical orientation. Aligning real world 3D data collected from different sources is non-trivial and…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Establishing a correspondence between two non-rigidly deforming shapes is one of the most fundamental problems in visual computing. Existing methods often show weak resilience when presented with challenges innate to real-world data such as…

Shape-Text matching is an important task of high-level shape understanding. Current methods mainly represent a 3D shape as multiple 2D rendered views, which obviously can not be understood well due to the structural ambiguity caused by…

We propose a self-supervised approach to deep surface deformation. Given a pair of shapes, our algorithm directly predicts a parametric transformation from one shape to the other respecting correspondences. Our insight is to use…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

A robust 3D object tracker which continuously tracks surrounding objects and estimates their trajectories is key for self-driving vehicles. Most existing tracking methods employ a tracking-by-detection strategy, which usually requires…

In this work we propose to combine the advantages of learningbased and combinatorial formalisms for 3D shape matching. While learningbased methods lead to state-of-the-art matching performance, they do not ensure geometric consistency, so…

When matching parts of a surface to its whole, a fundamental question arises: Which points should be included in the matching process? The issue is intensified when using isometry to measure similarity, as it requires the validation of…

We present a novel method for computing correspondences across 3D shapes using unsupervised learning. Our method computes a non-linear transformation of given descriptor functions, while optimizing for global structural properties of the…

Non-rigid 3D mesh matching is a critical step in computer vision and computer graphics pipelines. We tackle matching meshes that contain topological artefacts which can break the assumption made by current approaches. While Functional Maps…

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…