Related papers: Risk-optimized Outlier Removal for Robust 3D Point…

Learning a powerful representation from point clouds is a fundamental and challenging problem in the field of computer vision. Different from images where RGB pixels are stored in the regular grid, for point clouds, the underlying semantic…

Reconstruction-based methods have demonstrated very promising results for 3D anomaly detection. However, these methods face great challenges in handling high-precision point clouds due to the large scale and complex structure. In this…

Recent advancements in lidar technology have led to improved point cloud resolution as well as the generation of 360 degrees, low-resolution images by encoding depth, reflectivity, or near-infrared light within each pixel. These images…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

Outlier detection is an important problem occurring in a wide range of areas. Outliers are the outcome of fraudulent behaviour, mechanical faults, human error, or simply natural deviations. Many data mining applications perform outlier…

Point clouds produced by 3D scanning are often sparse, non-uniform, and noisy. Recent upsampling approaches aim to generate a dense point set, while achieving both distribution uniformity and proximity-to-surface, and possibly amending…

Deep neural networks are known to be vulnerable to adversarial examples which are carefully crafted instances to cause the models to make wrong predictions. While adversarial examples for 2D images and CNNs have been extensively studied,…

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…

In recent years, much progress has been made in LiDAR-based 3D object detection mainly due to advances in detector architecture designs and availability of large-scale LiDAR datasets. Existing 3D object detectors tend to perform well on the…

Point clouds are essential for object modeling and play a critical role in assisting driving tasks for autonomous vehicles (AVs). However, the significant volume of data generated by AVs creates challenges for storage, bandwidth, and…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Point clouds are an increasingly ubiquitous input modality and the raw signal can be efficiently processed with recent progress in deep learning. This signal may, often inadvertently, capture sensitive information that can leak semantic and…

Low-overlap point cloud registration (PCR) remains a significant challenge in 3D vision. Traditional evaluation metrics, such as Maximum Inlier Count, become ineffective under extremely low inlier ratios. In this paper, we revisit the…

Point cloud classifiers with rotation robustness have been widely discussed in the 3D deep learning community. Most proposed methods either use rotation invariant descriptors as inputs or try to design rotation equivariant networks.…

Recent development of 3D sensors allows the acquisition of extremely dense 3D point clouds of large-scale scenes. The main challenge of processing such large point clouds remains in the size of the data, which induce expensive computational…

The increasing adoption of 3D point cloud data in various applications, such as autonomous vehicles, robotics, and virtual reality, has brought about significant advancements in object recognition and scene understanding. However, this…

High quality upsampling of sparse 3D point clouds is critically useful for a wide range of geometric operations such as reconstruction, rendering, meshing, and analysis. In this paper, we propose a data-driven algorithm that enables an…

Contemporary deep neural networks offer state-of-the-art results when applied to visual reasoning, e.g., in the context of 3D point cloud data. Point clouds are important datatype for precise modeling of three-dimensional environments, but…

The quality of point clouds is often limited by noise introduced during their capture process. Consequently, a fundamental 3D vision task is the removal of noise, known as point cloud filtering or denoising. State-of-the-art learning based…

The prevalence of accessible depth sensing and 3D laser scanning techniques has enabled the convenient acquisition of 3D dynamic point clouds, which provide efficient representation of arbitrarily-shaped objects in motion. Nevertheless,…