Related papers: RESSCAL3D: Resolution Scalable 3D Semantic Segment…

In this paper, a method for dense semantic 3D scene reconstruction from an RGB-D sequence is proposed to solve high-level scene understanding tasks. First, each RGB-D pair is consistently segmented into 2D semantic maps based on a camera…

Deep neural networks have established themselves as the state-of-the-art methodology in almost all computer vision tasks to date. But their application to processing data lying on non-Euclidean domains is still a very active area of…

In this article we describe a new convolutional neural network (CNN) to classify 3D point clouds of urban or indoor scenes. Solutions are given to the problems encountered working on scene point clouds, and a network is described that…

Learning local descriptors is an important problem in computer vision. While there are many techniques for learning local patch descriptors for 2D images, recently efforts have been made for learning local descriptors for 3D points. The…

Point-cloud semantic segmentation underpins a wide range of critical applications. Although recent deep architectures and large-scale datasets have driven impressive closed-set performance, these models struggle to recognize or properly…

3D point-cloud recognition with PointNet and its variants has received remarkable progress. A missing ingredient, however, is the ability to automatically evaluate point-wise importance w.r.t.\! classification performance, which is usually…

Large-scale 3D point clouds can consist of hundreds of millions of points. Even after downsampling, these point clouds are too large for modern 3D neural networks. In order to develop a semantic understanding of the scene, the point clouds…

Learning implicit representations has been a widely used solution for surface reconstruction from 3D point clouds. The latest methods infer a distance or occupancy field by overfitting a neural network on a single point cloud. However,…

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…

Over the past two decades, we have seen an exponentially increased amount of point clouds collected with irregular shapes in various areas. Motivated by the importance of solid modeling for point clouds, we develop a novel and efficient…

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 building models with facade details are playing an important role in many applications now. Classifying point clouds at facade-level is key to create such digital replicas of the real world. However, few studies have focused on such…

We present SKD, a novel keypoint detector that uses saliency to determine the best candidates from a point cloud for tasks such as registration and reconstruction. The approach can be applied to any differentiable deep learning descriptor…

Deep neural networks have achieved significant success in 3D point cloud classification while relying on large-scale, annotated point cloud datasets, which are labor-intensive to build. Compared to capturing data with LiDAR sensors and then…

Explainability is an important factor to drive user trust in the use of neural networks for tasks with material impact. However, most of the work done in this area focuses on image analysis and does not take into account 3D data. We extend…

Point cloud segmentation is one of the most important tasks in computer vision with widespread scientific, industrial, and commercial applications. The research thereof has resulted in many breakthroughs in 3D object and scene…

Deep learning is increasingly being used to perform machine vision tasks such as classification, object detection, and segmentation on 3D point cloud data. However, deep learning inference is computationally expensive. The limited…

3D LiDAR point cloud data is crucial for scene perception in computer vision, robotics, and autonomous driving. Geometric and semantic scene understanding, involving 3D point clouds, is essential for advancing autonomous driving…

Unlike on images, semantic learning on 3D point clouds using a deep network is challenging due to the naturally unordered data structure. Among existing works, PointNet has achieved promising results by directly learning on point sets.…

3D semantic segmentation provides high-level scene understanding for applications in robotics, autonomous systems, \textit{etc}. Traditional methods adapt exclusively to either task-specific goals (open-vocabulary segmentation) or scene…