Related papers: SGNet: Salient Geometric Network for Point Cloud R…

As a promising scheme of self-supervised learning, masked autoencoding has significantly advanced natural language processing and computer vision. Inspired by this, we propose a neat scheme of masked autoencoders for point cloud…

Deep neural networks endow the downsampled superpoints with highly discriminative feature representations. Previous dominant point cloud registration approaches match these feature representations as the first step, e.g., using the Sinkhorn…

Topology matters. Despite the recent success of point cloud processing with geometric deep learning, it remains arduous to capture the complex topologies of point cloud data with a learning model. Given a point cloud dataset containing…

Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to…

We present an efficient and robust point cloud registration (PCR) workflow for part-wise rigid point cloud alignment using the Microsoft HoloLens 2. Point Cloud Registration (PCR) is an important problem in Augmented and Mixed Reality use…

PointNet has revolutionized how we think about representing point clouds. For classification and segmentation tasks, the approach and its subsequent extensions are state-of-the-art. To date, the successful application of PointNet to point…

Point Cloud-based Place Recognition (PCPR) demonstrates considerable potential in applications such as autonomous driving, robot localization and navigation, and map update. In practical applications, point clouds used for place recognition…

This paper reports on a novel nonparametric rigid point cloud registration framework that jointly integrates geometric and semantic measurements such as color or semantic labels into the alignment process and does not require explicit data…

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…

Despite significant progress of deep learning in recent years, state-of-the-art semantic matching methods still rely on legacy features such as SIFT or HoG. We argue that the strong invariance properties that are key to the success of…

We present a new permutation-invariant network for 3D point cloud processing. Our network is composed of a recurrent set encoder and a convolutional feature aggregator. Given an unordered point set, the encoder firstly partitions its…

In this paper, we introduce Divide-and-Conquer into the salient object detection (SOD) task to enable the model to learn prior knowledge that is for predicting the saliency map. We design a novel network, Divide-and-Conquer Network (DC-Net)…

LiDAR point clouds provide rich geometric information, which is particularly useful for the analysis of complex scenes of urban regions. Finding structural and semantic differences between two different three-dimensional point clouds, say,…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…

Point cloud registration is a crucial technique in 3D computer vision with a wide range of applications. However, this task can be challenging, particularly in large fields of view with dynamic objects, environmental noise, or other…

Global point cloud registration is essential in many robotics tasks like loop closing and relocalization. Unfortunately, the registration often suffers from the low overlap between point clouds, a frequent occurrence in practical…

Existing state-of-the-art salient object detection networks rely on aggregating multi-level features of pre-trained convolutional neural networks (CNNs). Compared to high-level features, low-level features contribute less to performance but…

This study presents a high-accuracy, efficient, and physically induced method for 3D point cloud registration, which is the core of many important 3D vision problems. In contrast to existing physics-based methods that merely consider…

Point cloud completion is essential for robotic perception, object reconstruction and supporting downstream tasks like grasp planning, obstacle avoidance, and manipulation. However, incomplete geometry caused by self-occlusion and sensor…