Related papers: HD2Reg: Hierarchical Descriptors and Detectors for…

Learning dense point-wise semantics from unstructured 3D point clouds with fewer labels, although a realistic problem, has been under-explored in literature. While existing weakly supervised methods can effectively learn semantics with only…

High-resolution 3D point clouds are highly effective for detecting subtle structural anomalies in industrial inspection. However, their dense and irregular nature imposes significant challenges, including high computational cost,…

This paper aims at bringing some light and understanding to the field of deep learning for dynamic point cloud processing. Specifically, we focus on the hierarchical features learning aspect, with the ultimate goal of understanding which…

We tackle the problem of localizing 3D point cloud submaps using complex and diverse natural language descriptions, and present Text2Loc++, a novel neural network designed for effective cross-modal alignment between language and point…

Local feature extraction remains an active research area due to the advances in fields such as SLAM, 3D reconstructions, or AR applications. The success in these applications relies on the performance of the feature detector and descriptor.…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

Establishing the correct correspondence of feature points is a fundamental task in computer vision. However, the presence of numerous outliers among the feature points can significantly affect the matching results, reducing the accuracy and…

To better detect pedestrians of various scales, deep multi-scale methods usually detect pedestrians of different scales by different in-network layers. However, the semantic levels of features from different layers are usually inconsistent.…

In this paper, we propose the 3DFeat-Net which learns both 3D feature detector and descriptor for point cloud matching using weak supervision. Unlike many existing works, we do not require manual annotation of matching point clusters.…

Due to the few annotated labels of 3D point clouds, how to learn discriminative features of point clouds to segment object instances is a challenging problem. In this paper, we propose a simple yet effective 3D instance segmentation…

3D object detection is an essential vision technique for various robotic systems, such as augmented reality and domestic robots. Transformers as versatile network architectures have recently seen great success in 3D point cloud object…

Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…

Understanding 3D point cloud models for learning purposes has become an imperative challenge for real-world identification such as autonomous driving systems. A wide variety of solutions using deep learning have been proposed for point…

Point clouds have shown significant potential in various domains, including Simultaneous Localization and Mapping (SLAM). However, existing approaches either rely on dense point clouds to achieve high localization accuracy or use…

Multi-view clustering can explore common semantics from multiple views and has attracted increasing attention. However, existing works punish multiple objectives in the same feature space, where they ignore the conflict between learning…

Understanding point clouds is of great importance. Many previous methods focus on detecting salient keypoints to identity structures of point clouds. However, existing methods neglect the semantics of points selected, leading to poor…

Unlike its image based counterpart, point cloud based retrieval for place recognition has remained as an unexplored and unsolved problem. This is largely due to the difficulty in extracting local feature descriptors from a point cloud that…

3D point cloud semantic segmentation is one of the fundamental tasks for environmental understanding. Although significant progress has been made in recent years, the performance of classes with few examples or few points is still far from…

Point cloud based retrieval for place recognition is still a challenging problem due to drastic appearance and illumination changes of scenes in changing environments. Existing deep learning based global descriptors for the retrieval task…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…