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Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…

Point Cloud Registration (PCR) is a critical and challenging task in computer vision. One of the primary difficulties in PCR is identifying salient and meaningful points that exhibit consistent semantic and geometric properties across…

A successful point cloud registration often lies on robust establishment of sparse matches through discriminative 3D local features. Despite the fast evolution of learning-based 3D feature descriptors, little attention has been drawn to the…

Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

Registration of point clouds related by rigid transformations is one of the fundamental problems in computer vision. However, a solution to the practical scenario of aligning sparsely and differently sampled observations in the presence of…

We present a neural-network-based architecture for 3D point cloud denoising called neural projection denoising (NPD). In our previous work, we proposed a two-stage denoising algorithm, which first estimates reference planes and follows by…

Understanding dynamic 3D environment is crucial for robotic agents and many other applications. We propose a novel neural network architecture called $MeteorNet$ for learning representations for dynamic 3D point cloud sequences. Different…

Point cloud registration, a fundamental task in 3D computer vision, has remained largely unexplored in cross-source point clouds and unstructured scenes. The primary challenges arise from noise, outliers, and variations in scale and…

Registering an object shape to a sequence of point clouds undergoing non-rigid deformation is a long-standing challenge. The key difficulties stem from two factors: (i) the presence of local minima due to the non-convexity of registration…

Learning signed distance functions (SDFs) from point clouds is an important task in 3D computer vision. However, without ground truth signed distances, point normals or clean point clouds, current methods still struggle from learning SDFs…

In this paper, we present a robust spherical harmonics approach for the classification of point cloud-based objects. Spherical harmonics have been used for classification over the years, with several frameworks existing in the literature.…

Point cloud registration is a fundamental task in 3D computer vision. Most existing methods rely solely on geometric information for feature extraction and matching. Recently, several studies have incorporated color information from RGB-D…

Point cloud registration is a fundamental problem in 3D computer vision. Outdoor LiDAR point clouds are typically large-scale and complexly distributed, which makes the registration challenging. In this paper, we propose an efficient…

3D anomaly detection in point-cloud data is critical for industrial quality control, aiming to identify structural defects with high reliability. However, current memory bank-based methods often suffer from inconsistent feature…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Building on recent advances in Bayesian statistics and image denoising, we propose Noise2Score3D, a fully unsupervised framework for point cloud denoising. Noise2Score3D learns the score function of the underlying point cloud distribution…

We introduce ModelNet40-E, a new benchmark designed to assess the robustness and calibration of point cloud classification models under synthetic LiDAR-like noise. Unlike existing benchmarks, ModelNet40-E provides both noise-corrupted point…

In this paper, we introduce an SE(3) diffusion model-based point cloud registration framework for 6D object pose estimation in real-world scenarios. Our approach formulates the 3D registration task as a denoising diffusion process, which…

Many types of 3D acquisition sensors have emerged in recent years and point cloud has been widely used in many areas. Accurate and fast registration of cross-source 3D point clouds from different sensors is an emerged research problem in…