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Reconstructing 3D point clouds into triangle meshes is a key problem in computational geometry and surface reconstruction. Point cloud triangulation solves this problem by providing edge information to the input points. Since no vertex…
We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point Cloud". Our code…
Given a set $P$ of $n$ points on $\mathbb R^{2}$, we address the problem of computing an axis-parallel empty rectangular annulus $A$ of maximum-width such that no point of $P$ lies inside $A$ but all points of $P$ must lie inside, outside…
We study new types of geometric query problems defined as follows: given a geometric set $P$, preprocess it such that given a query point $q$, the location of the largest circle that does not contain any member of $P$, but contains $q$ can…
We propose a novel approach aimed at object and semantic scene completion from a partial scan represented as a 3D point cloud. Our architecture relies on three novel layers that are used successively within an encoder-decoder structure and…
In this paper, we present an end-to-end unsupervised anomaly detection framework for 3D point clouds. To the best of our knowledge, this is the first work to tackle the anomaly detection task on a general object represented by a 3D point…
This study presents a novel algorithm for identifying the set of extreme points that constitute the exact convex hull of a point set in high-dimensional Euclidean space. The proposed method iteratively solves a sequence of dynamically…
Recognition of occluded objects in unseen indoor environments is a challenging problem for mobile robots. This work proposes a new slicing-based topological descriptor that captures the 3D shape of object point clouds to address this…
Voids are the most prominent feature of the LSS of the universe. Still, they have been generally ignored in quantitative analysis of it, essentially due to the lack of an objective tool to identify and quantify the voids. To overcome this,…
As 3D scanning devices and depth sensors mature, point clouds have attracted increasing attention as a format for 3D object representation, with applications in various fields such as tele-presence, navigation and heritage reconstruction.…
In the following article we discuss Delaunay triangulations for a point cloud on an embedded surface in $\mathbb{R}^3$. We give sufficient conditions on the point cloud to show that the diagonal switch algorithm finds an embedded Delaunay…
Existing state-of-the-art 3D point clouds understanding methods only perform well in a fully supervised manner. To the best of our knowledge, there exists no unified framework which simultaneously solves the downstream high-level…
3D shape completion for real data is important but challenging, since partial point clouds acquired by real-world sensors are usually sparse, noisy and unaligned. Different from previous methods, we address the problem of learning 3D…
The problem of packing unequal circles into a circular container stands as a classic and challenging optimization problem in computational geometry. This study introduces a suite of innovative and efficient methods to tackle this problem.…
Urban reconstruction from a video captured by a surveying vehicle constitutes a core module of automated mapping. When computational power represents a limited resource and, a detailed map is not the primary goal, the reconstruction can be…
Dense point cloud generation from a sparse or incomplete point cloud is a crucial and challenging problem in 3D computer vision and computer graphics. So far, the existing methods are either computationally too expensive, suffer from…
In this article, a novel approach for merging 3D point cloud maps in the context of egocentric multi-robot exploration is presented. Unlike traditional methods, the proposed approach leverages state-of-the-art place recognition and learned…
Semantic segmentation of raw 3D point clouds is an essential component in 3D scene analysis, but it poses several challenges, primarily due to the non-Euclidean nature of 3D point clouds. Although, several deep learning based approaches…
Shape completion is the problem of completing partial input shapes such as partial scans. This problem finds important applications in computer vision and robotics due to issues such as occlusion or sparsity in real-world data. However,…
Point-cloud is an efficient way to represent 3D world. Analysis of point-cloud deals with understanding the underlying 3D geometric structure. But due to the lack of smooth topology, and hence the lack of neighborhood structure, standard…