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This paper proposes BPNet, a novel end-to-end deep learning framework to learn B\'ezier primitive segmentation on 3D point clouds. The existing works treat different primitive types separately, thus limiting them to finite shape categories.…
Unsupervised learning on 3D point clouds has undergone a rapid evolution, especially thanks to data augmentation-based contrastive methods. However, data augmentation is not ideal as it requires a careful selection of the type of…
Although convolutional neural networks have achieved remarkable success in analyzing 2D images/videos, it is still non-trivial to apply the well-developed 2D techniques in regular domains to the irregular 3D point cloud data. To bridge this…
We propose a mechanism to reconstruct part annotated 3D point clouds of objects given just a single input image. We demonstrate that jointly training for both reconstruction and segmentation leads to improved performance in both the tasks,…
As a fundamental yet challenging problem in intelligent transportation systems, point cloud registration attracts vast attention and has been attained with various deep learning-based algorithms. The unsupervised registration algorithms…
Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…
We present Point-BERT, a new paradigm for learning Transformers to generalize the concept of BERT to 3D point cloud. Inspired by BERT, we devise a Masked Point Modeling (MPM) task to pre-train point cloud Transformers. Specifically, we…
Unsupervised learning methods have recently shown their competitiveness against supervised training. Typically, these methods use a single objective to train the entire network. But one distinct advantage of unsupervised over supervised…
The ability to predict future structure features of environments based on past perception information is extremely needed by autonomous vehicles, which helps to make the following decision-making and path planning more reasonable. Recently,…
Point cloud learning, especially in a self-supervised way without manual labels, has gained growing attention in both vision and learning communities due to its potential utility in a wide range of applications. Most existing generative…
Autonomous assembly of objects is an essential task in robotics and 3D computer vision. It has been studied extensively in robotics as a problem of motion planning, actuator control and obstacle avoidance. However, the task of developing a…
Transformers have been seldom employed in point cloud roof plane instance segmentation, which is the focus of this study, and existing superpoint Transformers suffer from limited performance due to the use of low-quality superpoints. To…
We proposed a novel graph convolutional neural network that could construct a coarse, sparse latent point cloud from a dense, raw point cloud. With a novel non-isotropic convolution operation defined on irregular geometries, the model then…
The manual annotation for large-scale point clouds costs a lot of time and is usually unavailable in harsh real-world scenarios. Inspired by the great success of the pre-training and fine-tuning paradigm in both vision and language tasks,…
In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…
We propose a Point-Voxel DeConvolution (PVDeConv) module for 3D data autoencoder. To demonstrate its efficiency we learn to synthesize high-resolution point clouds of 10k points that densely describe the underlying geometry of Computer…
In this paper, we focus on latent modification and generation of 3D point cloud object models with respect to their semantic parts. Different to the existing methods which use separate networks for part generation and assembly, we propose a…
This paper introduces Point-GN, a novel non-parametric network for efficient and accurate 3D point cloud classification. Unlike conventional deep learning models that rely on a large number of trainable parameters, Point-GN leverages…
Unsupervised point cloud segmentation is critical for embodied artificial intelligence and autonomous driving, as it mitigates the prohibitive cost of dense point-level annotations required by fully supervised methods. While integrating 2D…
In this paper, we propose PASS3D to achieve point-wise semantic segmentation for 3D point cloud. Our framework combines the efficiency of traditional geometric methods with robustness of deep learning methods, consisting of two stages: At…