Related papers: FuseFPS: Accelerating Farthest Point Sampling with…

Federated Learning (FL) enables collaborative model training across distributed clients without data sharing, but its high computational and communication demands strain resource-constrained devices. While existing methods use dynamic…

3D object detection from point clouds plays a critical role in autonomous driving. Currently, the primary methods for point cloud processing are voxel-based and pillar-based approaches. Voxel-based methods offer high accuracy through…

Semantic segmentation of 3D point cloud data is essential for enhanced high-level perception in autonomous platforms. Furthermore, given the increasing deployment of LiDAR sensors onboard of cars and drones, a special emphasis is also…

Breadth-first search (BFS) is a fundamental graph algorithm that presents significant challenges for parallel implementation due to irregular memory access patterns, load imbalance and synchronization overhead. In this paper, we introduce a…

The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimation pipeline and may cause drift under real-time constraints.…

In this paper, we propose NeuralQAAD, a differentiable point cloud compression framework that is fast, robust to sampling, and applicable to high resolutions. Previous work that is able to handle complex and non-smooth topologies is hardly…

Deep learning-based point cloud processing plays an important role in various vision tasks, such as autonomous driving, virtual reality (VR), and augmented reality (AR). The submanifold sparse convolutional network (SSCN) has been widely…

In order to retain more feature information of local areas on a point cloud, local grouping and subsampling are the necessary data structuring steps in most hierarchical deep learning models. Due to the disorder nature of the points in a…

Point cloud downsampling is a crucial pre-processing operation to downsample points in order to unify data size and reduce computational cost, to name a few. Recent research on point cloud downsampling has achieved great success which…

Accurate characterization of subsurface flow is critical for Carbon Capture and Storage (CCS) but remains challenged by the ill-posed nature of inverse problems with sparse observations. We present Function-space Decoupled Diffusion…

We introduce a new deep learning method for point cloud comparison. Our approach, named Deep Point Cloud Distance (DPDist), measures the distance between the points in one cloud and the estimated surface from which the other point cloud is…

3D point clouds captured from real-world sensors frequently encompass noisy points due to various obstacles, such as occlusion, limited resolution, and variations in scale. These challenges hinder the deployment of pre-trained point cloud…

Deep Neural Networks (DNN) have demonstrated superior ability to extract high level embedding vectors from low level features. Despite the success, the serving time is still the bottleneck due to expensive run-time computation of multiple…

Federated learning (FL) is a machine learning paradigm that facilitates massively distributed model training with end-user data on edge devices directed by a central server. However, the large number of heterogeneous clients in FL…

3D point cloud completion, the task of inferring the complete geometric shape from a partial point cloud, has been attracting attention in the community. For acquiring high-fidelity dense point clouds and avoiding uneven distribution,…

In this paper we introduce Farthest Sampling Segmentation (FSS), a new method for segmentation of triangulated surfaces, which consists of two fundamental steps: the computation of a submatrix $W^k$ of the affinity matrix $W$ and the…

Capsule Network (CapsNet) has shown significant improvement in understanding the variation in images along with better generalization ability compared to traditional Convolutional Neural Network (CNN). CapsNet preserves spatial relationship…

3D object detection is a core component of automated driving systems. State-of-the-art methods fuse RGB imagery and LiDAR point cloud data frame-by-frame for 3D bounding box regression. However, frame-by-frame 3D object detection suffers…

We address the issue of the exploding computational requirements of recent State-of-the-art (SOTA) open set multimodel 3D mapping (dense 3D mapping) algorithms and present Voxel-Aggregated Feature Synthesis (VAFS), a novel approach to dense…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…