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As object recognition becomes an increasingly common ML task, and recent research demonstrating CNNs vulnerability to attacks and small image perturbations necessitate fully understanding the foundations of object recognition. We focus on…

Point cloud registration is a key task in many computational fields. Previous correspondence matching based methods require the inputs to have distinctive geometric structures to fit a 3D rigid transformation according to point-wise sparse…

We are interested in reconstructing the mesh representation of object surfaces from point clouds. Surface reconstruction is a prerequisite for downstream applications such as rendering, collision avoidance for planning, animation, etc.…

The Gaussian diffusion model, initially designed for image generation, has recently been adapted for 3D point cloud generation. However, these adaptations have not fully considered the intrinsic geometric characteristics of 3D shapes,…

Deep neural networks are widely used for understanding 3D point clouds. At each point convolution layer, features are computed from local neighborhoods of 3D points and combined for subsequent processing in order to extract semantic…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

Rigid registration of point clouds is a fundamental problem in computer vision with many applications from 3D scene reconstruction to geometry capture and robotics. If a suitable initial registration is available, conventional methods like…

As a popular geometric representation, point clouds have attracted much attention in 3D vision, leading to many applications in autonomous driving and robotics. One important yet unsolved issue for learning on point cloud is that point…

We address the problem of learning accurate 3D shape and camera pose from a collection of unlabeled category-specific images. We train a convolutional network to predict both the shape and the pose from a single image by minimizing the…

Real-world point clouds usually suffer from incompleteness and display different poses. While current point cloud completion methods excel in reproducing complete point clouds with consistent poses as seen in the training set, their…

Point clouds, being the simple and compact representation of surface geometry of 3D objects, have gained increasing popularity with the evolution of deep learning networks for classification and segmentation tasks. Unlike human, teaching…

Over the last decade, the demand for better segmentation and classification algorithms in 3D spaces has significantly grown due to the popularity of new 3D sensor technologies and advancements in the field of robotics. Point-clouds are one…

Deep learning systems extensively use convolution operations to process input data. Though convolution is clearly defined for structured data such as 2D images or 3D volumes, this is not true for other data types such as sparse point…

This work seeks to improve the generalization and robustness of existing neural networks for 3D point clouds by inducing group equivariance under general group transformations. The main challenge when designing equivariant models for point…

The introduction of cheap RGB-D cameras, stereo cameras, and LIDAR devices has given the computer vision community 3D information that conventional RGB cameras cannot provide. This data is often stored as a point cloud. In this paper, we…

Point clouds have become an increasingly important representation for 3D medical imaging, offering a compact, surface-preserving alternative to traditional voxel or mesh-based approaches. Recent advances in deep learning have enabled rapid…

Integral invariants obtained from Principal Component Analysis on a small kernel domain of a submanifold encode important geometric information classically defined in differential-geometric terms. We generalize to hypersurfaces in any…

In robot learning, the observation space is crucial due to the distinct characteristics of different modalities, which can potentially become a bottleneck alongside policy design. In this study, we explore the influence of various…

Self-supervised pre-training for 3D vision has drawn increasing research interest in recent years. In order to learn informative representations, a lot of previous works exploit invariances of 3D features, e.g., perspective-invariance…

We present a 3D capsule module for processing point clouds that is equivariant to 3D rotations and translations, as well as invariant to permutations of the input points. The operator receives a sparse set of local reference frames,…