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Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…

Nowadays, pre-training big models on large-scale datasets has become a crucial topic in deep learning. The pre-trained models with high representation ability and transferability achieve a great success and dominate many downstream tasks in…

The ability to cope with out-of-distribution (OOD) corruptions and adversarial attacks is crucial in real-world safety-demanding applications. In this study, we develop a general mechanism to increase neural network robustness based on…

The increasing adoption of 3D point cloud data in various applications, such as autonomous vehicles, robotics, and virtual reality, has brought about significant advancements in object recognition and scene understanding. However, this…

Vector quantization has emerged as a powerful tool in large-scale multimodal models, unifying heterogeneous representations through discrete token encoding. However, its effectiveness hinges on robust codebook design. Current…

Point Cloud Registration (PCR) estimates the relative rigid transformation between two point clouds of the same scene. Despite significant progress with learning-based approaches, existing methods still face challenges when the overlapping…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

Recent advances in computer vision and deep learning have shown promising performance in estimating rigid/similarity transformation between unregistered point clouds of complex objects and scenes. However, their performances are mostly…

Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

It is well-known that classifiers are vulnerable to adversarial perturbations. To defend against adversarial perturbations, various certified robustness results have been derived. However, existing certified robustnesses are limited to…

Current point cloud processing algorithms do not have the capability to automatically extract semantic information from the observed scenes, except in very specialized cases. Furthermore, existing mesh analysis paradigms cannot be directly…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

Existing techniques to compress point cloud attributes leverage either geometric or video-based compression tools. We explore a radically different approach inspired by recent advances in point cloud representation learning. Point clouds…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Point cloud is one of the widely used techniques for representing and storing 3D geometric data. In the past several methods have been proposed for processing point clouds. Methods such as PointNet and FoldingNet have shown promising…

Large-scale 3D point clouds (LS3DPC) obtained by LiDAR scanners require huge storage space and transmission bandwidth due to a large amount of data. The existing methods of LS3DPC compression separately perform rule-based point sampling and…

Machine learning-based static malware detectors remain vulnerable to adversarial evasion techniques, such as metamorphic engine mutations. To address this vulnerability, we propose a certifiably robust malware detection framework based on…

Training neural networks for tasks such as 3D point cloud semantic segmentation demands extensive datasets, yet obtaining and annotating real-world point clouds is costly and labor-intensive. This work aims to introduce a novel pipeline for…

Rigid Point Cloud Registration (PCR) algorithms aim to estimate the 6-DOF relative motion between two point clouds, which is important in various fields, including autonomous driving. Recent years have seen a significant improvement in…