Related papers: Sparse SPN: Depth Completion from Sparse Keypoints
Pillar-based 3D object detection has gained traction in self-driving technology due to its speed and accuracy facilitated by the artificial densification of pillars for GPU-friendly processing. However, dense pillar processing fundamentally…
Point clouds are often sparse and incomplete, which imposes difficulties for real-world applications. Existing shape completion methods tend to generate rough shapes without fine-grained details. Considering this, we introduce a two-branch…
Existing point cloud completion methods, which typically depend on predefined synthetic training datasets, encounter significant challenges when applied to out-of-distribution, real-world scans. To overcome this limitation, we introduce a…
Processing large point clouds is a challenging task. Therefore, the data is often sampled to a size that can be processed more easily. The question is how to sample the data? A popular sampling technique is Farthest Point Sampling (FPS).…
While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…
Blur detection aims at segmenting the blurred areas of a given image. Recent deep learning-based methods approach this problem by learning an end-to-end mapping between the blurred input and a binary mask representing the localization of…
Given sparse depths and the corresponding RGB images, depth completion aims at spatially propagating the sparse measurements throughout the whole image to get a dense depth prediction. Despite the tremendous progress of deep-learning-based…
In this paper we consider the problem of estimating a dense depth map from a set of sparse LiDAR points. We use techniques from compressed sensing and the recently developed Alternating Direction Neural Networks (ADNNs) to create a deep…
In this paper we propose a convolutional neural network that is designed to upsample a series of sparse range measurements based on the contextual cues gleaned from a high resolution intensity image. Our approach draws inspiration from…
With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are…
Depth completion, inferring dense depth maps from sparse measurements, is crucial for robust 3D perception. Although deep learning based methods have made tremendous progress in this problem, these models cannot generalize well across…
3D object detection is a key component of many robotic applications such as self-driving vehicles. While many approaches rely on expensive 3D sensors such as LiDAR to produce accurate 3D estimates, methods that exploit stereo cameras have…
Modeling and understanding the 3D world is crucial for various applications, from augmented reality to robotic navigation. Recent advancements based on 3D Gaussian Splatting have integrated semantic information from multi-view images into…
In this paper, we propose a new global geometry constraint for depth completion. By assuming depth maps often lay on low dimensional subspaces, a dense depth map can be approximated by a weighted sum of full-resolution principal depth…
Point cloud completion aims to reconstruct complete 3D shapes from partial observations, which is a challenging problem due to severe occlusions and missing geometry. Despite recent advances in multimodal techniques that leverage…
LiDAR sensors are widely used in autonomous driving due to the reliable 3D spatial information. However, the data of LiDAR is sparse and the frequency of LiDAR is lower than that of cameras. To generate denser point clouds spatially and…
This paper presents PCDreamer, a novel method for point cloud completion. Traditional methods typically extract features from partial point clouds to predict missing regions, but the large solution space often leads to unsatisfactory…
We propose a novel approach for 3D shape completion by synthesizing multi-view depth maps. While previous work for shape completion relies on volumetric representations, meshes, or point clouds, we propose to use multi-view depth maps from…
In this work, to facilitate the real-time processing of multi-scan registration error minimization on factor graphs, we devise a point cloud downsampling algorithm based on coreset extraction. This algorithm extracts a subset of the…
Semantic scene completion (SSC) aims to predict the semantic occupancy of each voxel in the entire 3D scene from limited observations, which is an emerging and critical task for autonomous driving. Recently, many studies have turned to…