Related papers: Segregator: Global Point Cloud Registration with S…
Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…
Registration of distant outdoor LiDAR point clouds is crucial to extending the 3D vision of collaborative autonomous vehicles, and yet is challenging due to small overlapping area and a huge disparity between observed point densities. In…
Semantic communication (SemCom) has emerged as a promising paradigm for achieving unprecedented communication efficiency in sixth-generation (6G) networks by leveraging artificial intelligence (AI) to extract and transmit the underlying…
The rapid evolution of generative AI, from GANs to modern diffusion models, has resulted in increasingly subtle discriminative clues. These fine-grained signals are often overshadowed by dominant, high-fidelity image content (e.g., the main…
Current learning-based methods predict NeRF or 3D Gaussians from point clouds to achieve photo-realistic rendering but still depend on categorical priors, dense point clouds, or additional refinements. Hence, we introduce a novel point…
Traditional point cloud registration (PCR) methods for feature matching often employ the nearest neighbor policy. This leads to many-to-one matches and numerous potential inliers without any corresponding point. Recently, some approaches…
In large-scale metric localization, an incorrect result during retrieval will lead to an incorrect pose estimate or loop closure. Re-ranking methods propose to take into account all the top retrieval candidates and re-order them to increase…
Semantic segmentation of point clouds generates comprehensive understanding of scenes through densely predicting the category for each point. Due to the unicity of receptive field, semantic segmentation of point clouds remains challenging…
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…
Generative steganography (GS) directly generates stego-media through secret message-driven generation. It makes the hiding capacity of GS higher than that of traditional steganography, as well as more resistant to classical steganalysis.…
Efficient transmission of 3D point cloud data is critical for advanced perception in centralized and decentralized multi-agent robotic systems, especially nowadays with the growing reliance on edge and cloud-based processing. However, the…
Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…
We introduce Similarity Group Proposal Network (SGPN), a simple and intuitive deep learning framework for 3D object instance segmentation on point clouds. SGPN uses a single network to predict point grouping proposals and a corresponding…
We investigate transductive zero-shot point cloud semantic segmentation, where the network is trained on seen objects and able to segment unseen objects. The 3D geometric elements are essential cues to imply a novel 3D object type. However,…
In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…
Most existing 3D instance segmentation methods are derived from 3D semantic segmentation models. However, these indirect approaches suffer from certain limitations. They fail to fully leverage global and local semantic information for…
In the context of 3D mapping, larger and larger point clouds are acquired with LIDAR sensors. The Iterative Closest Point (ICP) algorithm is used to align these point clouds. However, its complexity is directly dependent of the number of…
LiDAR-generated point clouds are crucial for perceiving outdoor environments. The segmentation of point clouds is also essential for many applications. Previous research has focused on using self-attention and convolution (local attention)…
Rotation search and point cloud registration are two fundamental problems in robotics and computer vision, which aim to estimate the rotation and the transformation between the 3D vector sets and point clouds, respectively. Due to the…
We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…