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Inferring missing regions from severely occluded point clouds is highly challenging. Especially for 3D shapes with rich geometry and structure details, inherent ambiguities of the unknown parts are existing. Existing approaches either learn…

In this case study, we present a data-efficient point cloud segmentation pipeline and training framework for robust segmentation of unimproved roads and seven other classes. Our method employs a two-stage training framework: first, a…

In this paper we study the task of a single-view image-guided point cloud completion. Existing methods have got promising results by fusing the information of image into point cloud explicitly or implicitly. However, given that the image…

3D point clouds are rich in geometric structure information, while 2D images contain important and continuous texture information. Combining 2D information to achieve better 3D semantic segmentation has become mainstream in 3D scene…

3D point cloud registration is a fundamental task in robotics and computer vision. Recently, many learning-based point cloud registration methods based on correspondences have emerged. However, these methods heavily rely on such…

When navigating in urban environments, many of the objects that need to be tracked and avoided are heavily occluded. Planning and tracking using these partial scans can be challenging. The aim of this work is to learn to complete these…

Scanning real-life scenes with modern registration devices typically give incomplete point cloud representations, mostly due to the limitations of the scanning process and 3D occlusions. Therefore, completing such partial representations…

Point clouds obtained from 3D scans are typically sparse, irregular, and noisy, and required to be consolidated. In this paper, we present the first deep learning based edge-aware technique to facilitate the consolidation of point clouds.…

Modern digital engineering design process commonly involves expensive repeated simulations on varying three-dimensional (3D) geometries. The efficient prediction capability of neural networks (NNs) makes them a suitable surrogate to provide…

Grasping has been a crucial but challenging problem in robotics for many years. One of the most important challenges is how to make grasping generalizable and robust to novel objects as well as grippers in unstructured environments. We…

Technology to recognize the type of component represented by a point cloud is required in the reconstruction process of an as-built model of a process plant based on laser scanning. The reconstruction process of a process plant through…

Point cloud analysis has a wide range of applications in many areas such as computer vision, robotic manipulation, and autonomous driving. While deep learning has achieved remarkable success on image-based tasks, there are many unique…

Discrete point cloud objects lack sufficient shape descriptors of 3D geometries. In this paper, we present a novel method for aggregating hypothetical curves in point clouds. Sequences of connected points (curves) are initially grouped by…

The precise point cloud ground segmentation is a crucial prerequisite of virtually all perception tasks for LiDAR sensors in autonomous vehicles. Especially the clustering and extraction of objects from a point cloud usually relies on an…

With the increasing reliance of self-driving and similar robotic systems on robust 3D vision, the processing of LiDAR scans with deep convolutional neural networks has become a trend in academia and industry alike. Prior attempts on the…

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…

Point cloud completion aims to recover accurate global geometry and preserve fine-grained local details from partial point clouds. Conventional methods typically predict unseen points directly from 3D point cloud coordinates or use…

With the popularity of 3D sensors in self-driving and other robotics applications, extensive research has focused on designing novel neural network architectures for accurate 3D point cloud completion. However, unlike in point cloud…

Semantic segmentation of 3D point cloud is an essential task for autonomous driving environment perception. The pipeline of most pointwise point cloud semantic segmentation methods includes points sampling, neighbor searching, feature…

How will you repair a physical object with large missings? You may first recover its global yet coarse shape and stepwise increase its local details. We are motivated to imitate the above physical repair procedure to address the point cloud…