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Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…
While Feedforward Neural Networks (FNNs) have achieved remarkable success in various tasks, they are vulnerable to adversarial examples. Several techniques have been developed to verify the adversarial robustness of FNNs, but most of them…
Verifying robustness of neural network classifiers has attracted great interests and attention due to the success of deep neural networks and their unexpected vulnerability to adversarial perturbations. Although finding minimum adversarial…
We propose Differentiable Surface Splatting (DSS), a high-fidelity differentiable renderer for point clouds. Gradients for point locations and normals are carefully designed to handle discontinuities of the rendering function.…
Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…
Thanks to its precise spatial referencing, 3D point cloud visual grounding is essential for deep understanding and dynamic interaction in 3D environments, encompassing 3D Referring Expression Comprehension (3DREC) and Segmentation (3DRES).…
Three-dimensional (3D) point cloud analysis has become one of the attractive subjects in realistic imaging and machine visions due to its simplicity, flexibility and powerful capacity of visualization. Actually, the representation of scenes…
Recently MLP-based methods have shown strong performance in point cloud analysis. Simple MLP architectures are able to learn geometric features in local point groups yet fail to model long-range dependencies directly. In this paper, we…
Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…
Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…
Point cloud analysis is attracting attention from Artificial Intelligence research since it can be widely used in applications such as robotics, Augmented Reality, self-driving. However, it is always challenging due to irregularities,…
Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…
In recent years, point cloud representation has become one of the research hotspots in the field of computer vision, and has been widely used in many fields, such as autonomous driving, virtual reality, robotics, etc. Although deep learning…
Reconstructing a high-resolution 3D model of an object is a challenging task in computer vision. Designing scalable and light-weight architectures is crucial while addressing this problem. Existing point-cloud based reconstruction…
3D point cloud-based place recognition is highly demanded by autonomous driving in GPS-challenged environments and serves as an essential component (i.e. loop-closure detection) in lidar-based SLAM systems. This paper proposes a novel…
Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregular nature, exacerbated by sensor noise and occlusions,…
4D radar measurements offer an affordable and weather-robust solution for 3D perception. However, the inherent sparsity and noise of radar point clouds present significant challenges for accurate 3D object detection, underscoring the need…
Point cloud is point sets defined in 3D metric space. Point cloud has become one of the most significant data format for 3D representation. Its gaining increased popularity as a result of increased availability of acquisition devices, such…
Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…
Point cloud registration for 3D objects is a challenging task due to sparse and noisy measurements, incomplete observations and large transformations. In this work, we propose \textbf{G}raph \textbf{M}atching \textbf{C}onsensus…