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Recent years have witnessed the growth of point cloud based applications because of its realistic and fine-grained representation of 3D objects and scenes. However, it is a challenging problem to compress sparse, unstructured, and…

Point cloud segmentation (PCS) aims to make per-point predictions and enables robots and autonomous driving cars to understand the environment. The range image is a dense representation of a large-scale outdoor point cloud, and segmentation…

Existing point cloud modeling datasets primarily express the modeling precision by pose or trajectory precision rather than the point cloud modeling effect itself. Under this demand, we first independently construct a set of LiDAR system…

Automatic synthesis of high quality 3D shapes is an ongoing and challenging area of research. While several data-driven methods have been proposed that make use of neural networks to generate 3D shapes, none of them reach the level of…

Efficient processing and feature extraction of largescale point clouds are important in related computer vision and cyber-physical systems. This work investigates point cloud resampling based on hypergraph signal processing (HGSP) to better…

Synthesizing photo-realistic images from a point cloud is challenging because of the sparsity of point cloud representation. Recent Neural Radiance Fields and extensions are proposed to synthesize realistic images from 2D input. In this…

In the current age, users consume multimedia content in very heterogeneous scenarios in terms of network, hardware, and display capabilities. A naive solution to this problem is to encode multiple independent streams, each covering a…

With the rapid progress of deep convolutional neural networks, in almost all robotic applications, the availability of 3D point clouds improves the accuracy of 3D semantic segmentation methods. Rendering of these irregular, unstructured,…

Recently, there have been some attempts of Transformer in 3D point cloud classification. In order to reduce computations, most existing methods focus on local spatial attention, but ignore their content and fail to establish relationships…

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…

We present an improved version of PointRCNN for 3D object detection, in which a multi-branch backbone network is adopted to handle the non-uniform density of point clouds. An uncertainty-based sampling policy is proposed to deal with the…

While massively scaling both data and models have become central in NLP and 2D vision, their benefits for 3D point cloud understanding remain limited. We study the initial step of scaling 3D point cloud understanding under a realistic…

Three-dimensional point cloud anomaly detection that aims to detect anomaly data points from a training set serves as the foundation for a variety of applications, including industrial inspection and autonomous driving. However, existing…

Current learning-based methods predict NeRF or 3D Gaussians from point clouds to achieve photo-realistic rendering but still depend on categorical priors, dense point clouds, or additional refinements. Hence, we introduce a novel point…

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…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

We present a neural-network-based architecture for 3D point cloud denoising called neural projection denoising (NPD). In our previous work, we proposed a two-stage denoising algorithm, which first estimates reference planes and follows by…

LiDAR point cloud semantic segmentation is essential for interpreting 3D environments in applications such as autonomous driving and robotics. Recent methods achieve strong performance by exploiting different point cloud representations or…

This paper presents a framework to address the challenges involved in building point cloud cleaning, plane detection, and semantic segmentation, with the ultimate goal of enhancing building modeling. We focus in the cleaning stage on…

3D urban reconstruction of buildings from remotely sensed imagery has drawn significant attention during the past two decades. While aerial imagery and LiDAR provide higher resolution, satellite imagery is cheaper and more efficient to…