Related papers: Learning Signed Distance Functions from Noisy 3D P…

A 3D point cloud is often synthesized from depth measurements collected by sensors at different viewpoints. The acquired measurements are typically both coarse in precision and corrupted by noise. To improve quality, previous works denoise…

Learning to generate 3D point clouds without 3D supervision is an important but challenging problem. Current solutions leverage various differentiable renderers to project the generated 3D point clouds onto a 2D image plane, and train deep…

In this paper, we present a deep learning architecture which addresses the problem of 3D semantic segmentation of unstructured point clouds. Compared to previous work, we introduce grouping techniques which define point neighborhoods in the…

We introduce a novel approach for rendering static and dynamic 3D neural signed distance functions (SDF) in real-time. We rely on nested neighborhoods of zero-level sets of neural SDFs, and mappings between them. This framework supports…

In this work, we tackle the task of estimating the 6D pose of an object from point cloud data. While recent learning-based approaches to addressing this task have shown great success on synthetic datasets, we have observed them to fail in…

SSF3D modified the semi-supervised 3D object detection (SS3DOD) framework, which designed specifically for point cloud data. Leveraging the characteristics of non-coincidence and weak correlation of target objects in point cloud, we adopt a…

In linear distance metric learning, we are given data in one Euclidean metric space and the goal is to find an appropriate linear map to another Euclidean metric space which respects certain distance conditions as much as possible. In this…

We propose a method for detecting structural changes in a city using images captured from vehicular mounted cameras over traversals at two different times. We first generate 3D point clouds for each traversal from the images and approximate…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Localization of a robotic system within a previously mapped environment is important for reducing estimation drift and for reusing previously built maps. Existing techniques for geometry-based localization have focused on the description of…

LiDAR is widely used to capture accurate 3D outdoor scene structures. However, LiDAR produces many undesirable noise points in snowy weather, which hamper analyzing meaningful 3D scene structures. Semantic segmentation with snow labels…

In the realm of text-to-3D generation, utilizing 2D diffusion models through score distillation sampling (SDS) frequently leads to issues such as blurred appearances and multi-faced geometry, primarily due to the intrinsically noisy nature…

Deep metric learning, which learns discriminative features to process image clustering and retrieval tasks, has attracted extensive attention in recent years. A number of deep metric learning methods, which ensure that similar examples are…

Unsigned Distance Functions (UDFs) can be used to represent non-watertight surfaces in a deep learning framework. However, UDFs tend to be brittle and difficult to learn, in part because the surface is located exactly where the UDF is…

We introduce a new generative approach for synthesizing 3D geometry and images from single-view collections. Most existing approaches predict volumetric density to render multi-view consistent images. By employing volumetric rendering using…

We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for…

The success of supervised learning requires large-scale ground truth labels which are very expensive, time-consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike…

Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environments. Most state-of-art approaches rely on relatively dense…

Point cloud is a collection of 3D coordinates that are discrete geometric samples of an object's 2D surfaces. Imperfection in the acquisition process means that point clouds are often corrupted with noise. Building on recent advances in…

Zero-shot learning, the task of learning to recognize new classes not seen during training, has received considerable attention in the case of 2D image classification. However, despite the increasing ubiquity of 3D sensors, the…