Related papers: Window Normalization: Enhancing Point Cloud Unders…

We present an improved approach for 3D object detection in point cloud data based on the Frustum PointNet (F-PointNet). Compared to the original F-PointNet, our newly proposed method considers the point neighborhood when computing point…

Dense colored point clouds enhance visual perception and are of significant value in various robotic applications. However, existing learning-based point cloud upsampling methods are constrained by computational resources and batch…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…

Dense 3D visual mapping estimates as many as possible pixel depths, for each image. This results in very dense point clouds that often contain redundant and noisy information, especially for surfaces that are roughly planar, for instance,…

Accurate point cloud segmentation for plant organs is crucial for 3D plant phenotyping. Existing solutions are designed problem-specific with a focus on certain plant species or specified sensor-modalities for data acquisition. Furthermore,…

In this paper, we explore the problem of 3D point cloud representation-based view synthesis from a set of sparse source views. To tackle this challenging problem, we propose a new deep learning-based view synthesis paradigm that learns a…

We propose a method for joint detection and tracking of multiple objects in 3D point clouds, a task conventionally treated as a two-step process comprising object detection followed by data association. Our method embeds both steps into a…

Robust unsupervised anomaly detection (AD) in real-world scenarios is an important task. Current methods exhibit severe performance degradation on the MVTec AD 2 benchmark due to its complex real-world challenges. To solve this problem, we…

Feature pooling layers (e.g., max pooling) in convolutional neural networks (CNNs) serve the dual purpose of providing increasingly abstract representations as well as yielding computational savings in subsequent convolutional layers. We…

As camera and LiDAR sensors capture complementary information used in autonomous driving, great efforts have been made to develop semantic segmentation algorithms through multi-modality data fusion. However, fusion-based approaches require…

Common deep learning models for 3D environment perception often use pillarization/voxelization methods to convert point cloud data into pillars/voxels and then process it with a 2D/3D convolutional neural network (CNN). The pioneer work…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Current models for point cloud recognition demonstrate promising performance on synthetic datasets. However, real-world point cloud data inevitably contains noise, impacting model robustness. While recent efforts focus on enhancing…

As 3D point cloud analysis has received increasing attention, the insufficient scale of point cloud datasets and the weak generalization ability of networks become prominent. In this paper, we propose a simple and effective augmentation…

Change detection from traditional \added{2D} optical images has limited capability to model the changes in the height or shape of objects. Change detection using 3D point cloud \added{from photogrammetry or LiDAR surveying} can fill this…

3D point cloud has been widely used in many mobile application scenarios, including autonomous driving and 3D sensing on mobile devices. However, existing 3D point cloud models tend to be large and cumbersome, making them hard to deploy on…

Feedforward fully convolutional neural networks currently dominate in semantic segmentation of 3D point clouds. Despite their great success, they suffer from the loss of local information at low-level layers, posing significant challenges…

Point clouds produced by 3D sensors are often sparse and noisy, posing challenges for tasks requiring dense and high-fidelity 3D representations. Prior work has explored both implicit feature-based upsampling and distance-function learning…

3D object detection in point clouds is a core component for modern robotics and autonomous driving systems. A key challenge in 3D object detection comes from the inherent sparse nature of point occupancy within the 3D scene. In this paper,…

Annotating large-scale point clouds is highly time-consuming and often infeasible for many complex real-world tasks. Point cloud pre-training has therefore become a promising strategy for learning discriminative representations without…