Related papers: PAPR: Proximity Attention Point Rendering

Rendering high-fidelity images from sparse point clouds is still challenging. Existing learning-based approaches suffer from either hole artifacts, missing details, or expensive computations. In this paper, we propose a novel framework to…

Point clouds or depth images captured by current RGB-D cameras often suffer from low resolution, rendering them insufficient for applications such as 3D reconstruction and robots. Existing point cloud super-resolution (PCSR) methods are…

We present SeRP, a framework for Self-Supervised Learning of 3D point clouds. SeRP consists of encoder-decoder architecture that takes perturbed or corrupted point clouds as inputs and aims to reconstruct the original point cloud without…

Exploring contextual information in the local region is important for shape understanding and analysis. Existing studies often employ hand-crafted or explicit ways to encode contextual information of local regions. However, it is hard to…

We address the problem of 3D object detection, that is, estimating 3D object bounding boxes from point clouds. 3D object detection methods exploit either voxel-based or point-based features to represent 3D objects in a scene. Voxel-based…

In recent years, neural implicit representations gained popularity in 3D reconstruction due to their expressiveness and flexibility. However, the implicit nature of neural implicit representations results in slow inference time and requires…

We propose CaSPR, a method to learn object-centric Canonical Spatiotemporal Point Cloud Representations of dynamically moving or evolving objects. Our goal is to enable information aggregation over time and the interrogation of object state…

With the rapid advancement of technology, 3D data acquisition and utilization have become increasingly prevalent across various fields, including computer vision, robotics, and geospatial analysis. 3D data, captured through methods such as…

Visual Attention Prediction (VAP) is a significant and imperative issue in the field of computer vision. Most of existing VAP methods are based on deep learning. However, they do not fully take advantage of the low-level contrast features…

Point set is arguably the most direct approximation of an object or scene surface, yet its practical acquisition often suffers from the shortcoming of being noisy, sparse, and possibly incomplete, which restricts its use for a high-quality…

3D LiDAR scanners are playing an increasingly important role in autonomous driving as they can generate depth information of the environment. However, creating large 3D LiDAR point cloud datasets with point-level labels requires a…

Place Recognition is a crucial capability for mobile robot localization and navigation. Image-based or Visual Place Recognition (VPR) is a challenging problem as scene appearance and camera viewpoint can change significantly when places are…

Point cloud-based large scale place recognition is an important but challenging task for many applications such as Simultaneous Localization and Mapping (SLAM). Taking the task as a point cloud retrieval problem, previous methods have made…

Point clouds are characterized by irregularity and unstructuredness, which pose challenges in efficient data exploitation and discriminative feature extraction. In this paper, we present an unsupervised deep neural architecture called…

Scene flow depicts the dynamics of a 3D scene, which is critical for various applications such as autonomous driving, robot navigation, AR/VR, etc. Conventionally, scene flow is estimated from dense/regular RGB video frames. With the…

Knowledge of 3D properties of objects is a necessity in order to build effective computer vision systems. However, lack of large scale 3D datasets can be a major constraint for data-driven approaches in learning such properties. We consider…

Aligning partial views of a scene into a single whole is essential to understanding one's environment and is a key component of numerous robotics tasks such as SLAM and SfM. Recent approaches have proposed end-to-end systems that can…

Object detection from 3D point clouds remains a challenging task, though recent studies pushed the envelope with the deep learning techniques. Owing to the severe spatial occlusion and inherent variance of point density with the distance to…

In the last few years, deep neural networks opened the doors for big advances in novel view synthesis. Many of these approaches are based on a (coarse) proxy geometry obtained by structure from motion algorithms. Small deficiencies in this…

Semantic scene reconstruction from point cloud is an essential and challenging task for 3D scene understanding. This task requires not only to recognize each instance in the scene, but also to recover their geometries based on the partial…