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Point clouds are an increasingly relevant data type but they are often corrupted by noise. We propose a deep neural network based on graph-convolutional layers that can elegantly deal with the permutation-invariance problem encountered by…
Deep convolutional neural networks achieve remarkable visual recognition performance, at the cost of high computational complexity. In this paper, we have a new design of efficient convolutional layers based on three schemes. The 3D…
Convolutional layers are the core building blocks of Convolutional Neural Networks (CNNs). In this paper, we propose to augment a convolutional layer with an additional depthwise convolution, where each input channel is convolved with a…
Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…
Convolutional neural networks (CNNs) have been pivotal in various 2D image analysis tasks, including computer vision, image indexing and retrieval or semantic classification. Extending CNNs to 3D data such as point clouds and 3D meshes…
Varying density of point clouds increases the difficulty of 3D detection. In this paper, we present a context-aware dynamic network (CADNet) to capture the variance of density by considering both point context and semantic context.…
Existing convolutional learning methods for 3D point cloud data are divided into two paradigms: point-based methods that preserve geometric precision but often face performance challenges, and voxel-based methods that achieve high…
Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene…
Point cloud compression plays a crucial role in reducing the huge cost of data storage and transmission. However, distortions can be introduced into the decompressed point clouds due to quantization. In this paper, we propose a novel…
Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…
We introduce Position Adaptive Convolution (PAConv), a generic convolution operation for 3D point cloud processing. The key of PAConv is to construct the convolution kernel by dynamically assembling basic weight matrices stored in Weight…
Modern depth sensors such as LiDAR operate by sweeping laser-beams across the scene, resulting in a point cloud with notable 1D curve-like structures. In this work, we introduce a new point cloud processing scheme and backbone, called…
The application of deep learning to 3D point clouds is challenging due to its lack of order. Inspired by the point embeddings of PointNet and the edge embeddings of DGCNNs, we propose three improvements to the task of point cloud analysis.…
Deep neural networks are playing an important role in state-of-the-art visual recognition. To represent high-level visual concepts, modern networks are equipped with large convolutional layers, which use a large number of filters and…
Among 2D convolutional networks on point clouds, point-based approaches consume point clouds of fixed size directly. By analysis of PointNet, a pioneer in introducing deep learning into point sets, we reveal that current point-based methods…
Deep convolutional neural networks are hindered by training instability and feature redundancy towards further performance improvement. A promising solution is to impose orthogonality on convolutional filters. We develop an efficient…
We present a network architecture for processing point clouds that directly operates on a collection of points represented as a sparse set of samples in a high-dimensional lattice. Naively applying convolutions on this lattice scales…
Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. Applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the lack of…
Deep convolutional neural networks (CNNs) have shown outstanding performance in the task of semantically segmenting images. However, applying the same methods on 3D data still poses challenges due to the heavy memory requirements and the…
In recent years, there has been a significant increase in the utilization of deep learning methods, particularly convolutional neural networks (CNNs), which have emerged as the dominant approach in various domains that involve structured…