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Global registration of point clouds aims to find an optimal alignment of a sequence of 2D or 3D point sets. In this paper, we present a novel method that takes advantage of current deep learning techniques for unsupervised learning of…

Point clouds analysis has grasped researchers' eyes in recent years, while 3D semantic segmentation remains a problem. Most deep point clouds models directly conduct learning on 3D point clouds, which will suffer from the severe sparsity…

Point cloud maps generated via LiDAR sensors using extensive remotely sensed data are commonly used by autonomous vehicles and robots for localization and navigation. However, dynamic objects contained in point cloud maps not only downgrade…

Existing 3D instance segmentation methods are predominated by the bottom-up design -- manually fine-tuned algorithm to group points into clusters followed by a refinement network. However, by relying on the quality of the clusters, these…

In contrast to current state-of-the-art methods, such as NSFP [25], which employ deep implicit neural functions for modeling scene flow, we present a novel approach that utilizes classical kernel representations. This representation enables…

Point cloud analysis without pose priors is very challenging in real applications, as the orientations of point clouds are often unknown. In this paper, we propose a brand new point-set learning framework PRIN, namely, Point-wise Rotation…

Environmental information can provide reliable prior information about human motion intent, which can aid the subject with wearable robotics to walk in complex environments. Previous researchers have utilized 1D signal and 2D images to…

Robots operating in dynamic environments face significant challenges due to the presence of moving agents and displaced objects. Traditional SLAM systems typically assume a static world or treat dynamic as outliers, discarding their…

Accurate registration of 2D imagery with point clouds is a key technology for image-LiDAR point cloud fusion, camera to laser scanner calibration and camera localization. Despite continuous improvements, automatic registration of 2D and 3D…

Deep neural network models have achieved remarkable progress in 3D scene understanding while trained in the closed-set setting and with full labels. However, the major bottleneck is that these models do not have the capacity to recognize…

Dynamic reconstruction and spatiotemporal novel-view synthesis of non-rigidly deforming scenes recently gained increased attention. While existing work achieves impressive quality and performance on multi-view or teleporting camera setups,…

A fundamental question in learning to classify 3D shapes is how to treat the data in a way that would allow us to construct efficient and accurate geometric processing and analysis procedures. Here, we restrict ourselves to networks that…

State-of-the-art 3D point cloud registration methods rely on labeled 3D datasets for training, which limits their practical applications in real-world scenarios and often hinders generalization to unseen scenes. Leveraging the zero-shot…

Compressing a set of unordered points is far more challenging than compressing images/videos of regular sample grids, because of the difficulties in characterizing neighboring relations in an irregular layout of points. Many researchers…

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…

We present an approach to semantic scene analysis using deep convolutional networks. Our approach is based on tangent convolutions - a new construction for convolutional networks on 3D data. In contrast to volumetric approaches, our method…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

In this work, we pioneer Semantic Flow, a neural semantic representation of dynamic scenes from monocular videos. In contrast to previous NeRF methods that reconstruct dynamic scenes from the colors and volume densities of individual…

The performance of 3D object detection models over point clouds highly depends on their capability of modeling local geometric patterns. Conventional point-based models exploit local patterns through a symmetric function (e.g. max pooling)…

Robust point cloud registration in real-time is an important prerequisite for many mapping and localization algorithms. Traditional methods like ICP tend to fail without good initialization, insufficient overlap or in the presence of…