Related papers: Point Cloud Denoising and Outlier Detection with L…

Exploiting convolutional neural networks for point cloud processing is quite challenging, due to the inherent irregular distribution and discrete shape representation of point clouds. To address these problems, many handcrafted convolution…

Analyzing the geometric and semantic properties of 3D point clouds through the deep networks is still challenging due to the irregularity and sparsity of samplings of their geometric structures. This paper presents a new method to define…

We present a robust refinement method for estimating oriented normals from unstructured point clouds. In contrast to previous approaches that either suffer from high computational complexity or fail to achieve desirable accuracy, our novel…

In recent years, Convolutional Neural Networks (CNN) have proven to be efficient analysis tools for processing point clouds, e.g., for reconstruction, segmentation and classification. In this paper, we focus on the classification of edges…

Deep learning on point clouds has made a lot of progress recently. Many point cloud dedicated deep learning frameworks, such as PointNet and PointNet++, have shown advantages in accuracy and speed comparing to those using traditional 3D…

Reliable point cloud data is essential for perception tasks \textit{e.g.} in robotics and autonomous driving applications. Adverse weather causes a specific type of noise to light detection and ranging (LiDAR) sensor data, which degrades…

Point cloud analysis is challenging due to the irregularity of the point cloud data structure. Existing works typically employ the ad-hoc sampling-grouping operation of PointNet++, followed by sophisticated local and/or global feature…

With the development of 3D sensing technologies, point clouds have attracted increasing attention in a variety of applications for 3D object representation, such as autonomous driving, 3D immersive tele-presence and heritage reconstruction.…

Point cloud completion is crucial for 3D computer vision tasks in autonomous driving, augmented reality, and robotics. However, obtaining clean and complete point clouds from real-world environments is challenging due to noise and…

Point cloud filtering and normal estimation are two fundamental research problems in the 3D field. Existing methods usually perform normal estimation and filtering separately and often show sensitivity to noise and/or inability to preserve…

Object retrieval and classification in point cloud data is challenged by noise, irregular sampling density and occlusion. To address this issue, we propose a point pair descriptor that is robust to noise and occlusion and achieves high…

Since the point cloud data is inherently irregular and unstructured, point cloud semantic segmentation has always been a challenging task. The graph-based method attempts to model the irregular point cloud by representing it as a graph;…

Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…

Registration is a basic yet crucial task in point cloud processing. In correspondence-based point cloud registration, matching correspondences by point feature techniques may lead to an extremely high outlier ratio. Current methods still…

3D computer vision models are commonly used in security-critical applications such as autonomous driving and surgical robotics. Emerging concerns over the robustness of these models against real-world deformations must be addressed…

Recovering dense and uniformly distributed point clouds from sparse or noisy data remains a significant challenge. Recently, great progress has been made on these tasks, but usually at the cost of increasingly intricate modules or…

This paper addresses the problem of generating uniform dense point clouds to describe the underlying geometric structures from given sparse point clouds. Due to the irregular and unordered nature, point cloud densification as a generative…

The growing size of point clouds enlarges consumptions of storage, transmission, and computation of 3D scenes. Raw data is redundant, noisy, and non-uniform. Therefore, simplifying point clouds for achieving compact, clean, and uniform…

Change detection and irregular object extraction in 3D point clouds is a challenging task that is of high importance not only for autonomous navigation but also for updating existing digital twin models of various industrial environments.…

Accurate, high-resolution 3D mapping of environmental terrain is critical in a range of disciplines. In this study, we develop a new technique, called the PCFilt-94 algorithm, to extract 3D point clouds from coarse resolution…